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.

~input (sensor_msgs/Image or sensor_msgs/Pointcloud2)

Image or pointcloud whose camera info is published.

~camera_info (sensor_msgs/CameraInfo)

Camera info which has the same timestamp as the input topic.

roslaunch jsk_interactive_marker sample_camera_info_publisher.launch