camera_info_publisher¶
camera_info_publisher
provides camera info topics to an image or pointcloud without camera info.
Parameters¶
~yaml_filename
(String, default: ``)Path to yaml file which has camera info information.
~frame_id
(String, default:camera
)Frame id of camera info.
~parent_frame_id_
(Bool, default:base_link
)Frame id of interactive marker.
~sync_pointcloud
(String, default:false
)Synchronize camera info to pointcloud. If both
~sync_pointcloud
and~sync_image
are not specified, camera info is published at a static rate.~sync_image
(String, default:false
)Synchronize camera info to image.
~static_rate
(Double, default:30.0
)Static rate at which camera info is published. If both
~sync_pointcloud
and~sync_image
are not specified, camera info is published at a static rate.~width
(Double, default:640
)With of published camera info. This parameter is enabled when
~yaml_filename
is not speficied. This parameter can be changed by dynamic reconfigure.~height
(Double, default:480
)Height of published camera info. This parameter is enabled when
~yaml_filename
is not speficied. This parameter can be changed by dynamic reconfigure.~f
(Double, default:525
)F of published camera_info. This parameter is enabled when
~yaml_filename
is not speficied. This parameter can be changed by dynamic reconfigure.
Subscribing Topics¶
~input
(sensor_msgs/Image
orsensor_msgs/Pointcloud2
)Image or pointcloud whose camera info is published.
Publishing Topics¶
~camera_info
(sensor_msgs/CameraInfo
)Camera info which has the same timestamp as the input topic.
Sample¶
roslaunch jsk_interactive_marker sample_camera_info_publisher.launch