Only released in EOL distros:
Package Summary
This package defines a base class for other packages in the pi_vision stack for converting ROS image topics to OpenCV format, displaying the image + markers, etc.
- Author: Patrick Goebel
- License: BSD
- Source: svn http://pi-robot-ros-pkg.googlecode.com/svn/trunk/pi_vision
Package Summary
This package defines a base class for other packages in the pi_vision stack for converting ROS image topics to OpenCV format, displaying the image + markers, etc.
- Author: Patrick Goebel
- License: BSD
- Source: svn http://pi-robot-ros-pkg.googlecode.com/svn/trunk/pi_vision
Package Summary
This package defines a base class for other packages in the pi_vision stack for converting ROS image topics to OpenCV format, displaying the image + markers, etc.
- Author: Patrick Goebel
- License: BSD
- Source: svn http://pi-robot-ros-pkg.googlecode.com/svn/trunk/pi_vision
Contents
Description
A collection of helper functions for the pi_vision stack for subscribing to image topics, converting them to OpenCV format for further processing by other nodes, and displaying processed images and markers.
How To Use
- To launch a ros2opencv node using the Kinect RGB-D camera, use:
$ roslaunch ros2opencv openni_node.launch
- To launch a ros2opencv node using a UVC-compatible webcam, use:
$ roslaunch ros2opencv uvc_cam.launch
- To load an AVI file and re-publish it on the topic /camera/image_raw:
$ roslaunch ros2opencv avi2ros.launch input:=/path/to/avi/file
- To publish the video on a different topic, use rosrun instead of roslaunch:
$ rosrun ros2opencv avi2ros.py _input:=/path/to/avi/file output:=/your_topic
(Note the underscore in front of _input but not in front of output.)
Nodes
ros2opencv.py
A ROS node for subscribing to a ROS image topic, converting the image to OpenCV format, then displaying the processed image to the user along with possible text and graphic markers.Subscribed Topics
~input_rgb_image (sensor_msgs/Image)- The ROS image topic to convert to OpenCV for further processing, e.g. /camera/rgb/image_color when using a Kinect and the openni_camera package.
- The ROS image topic containing depth information, e.g. /camera/depth/image when using a Kinect and the openni_camera package.
Published Topics
/output_image (remapped in pi_face_tracker launch files to /pi_face_tracker/image) (sensor_msgs/Image)- The display image including markers republished from OpenCV to ROS
avi2ros.py
A ROS node for reading an AVI video file using OpenCV and re-publishing it as a ROS image topic. See the same launch file commands lines above for usage.Published Topics
/output (sensor_msgs/Image)- The ROS Image stream corresponding to the input AVI file. Can be remapped on the command line or in a launch file.
Parameters
~input (str, default: None)- Path to the AVI file to re-publish on the /output topic.
- Start the video in the paused state. Useful if you want to select a region before the video starts.
- Continuously loop the video once it reaches the end.
- Run the video at fps frames per second.
