Nodes and Components

image_rotate::ImageFlipNode

This is a simplified version image rotate which merely rotates/flips the images.

Subscribed Topics

  • image (sensor_msgs/Image): Image to be rotated.

  • camera_info (sensor_msgs/CameraInfo): Camera metadata, only used if use_camera_info is set to true.

Published Topics

  • rotated/image (sensor_msgs/Image): Rotated image.

  • out/camera_info (sensor_msgs/CameraInfo): Camera metadata, with binning and ROI fields adjusted to match output raw image.

Parameters

  • output_frame_id (str, default: “”): Frame to publish for the image’s new orientation. Empty means add ‘_rotated’ suffix to the image frame.

  • use_camera_info (bool, default: True): Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.

  • rotation_steps (int, default: 2): Number of times to rotate the image:

    • 1 is transpose and flip in CCW

    • 2 is flip (180 mirroring)

    • 3 is transpose and flip in CW

image_rotate::ImageRotateNode

Node to rotate an image for visualization. The node takes a source vector and a target vector, and projects them onto the camera image. It then rotates the image by the angle neded to align the projection of the source vector with the projection of the target vector. The source and target vectors are specified in arbitrary TF frames allowing the rotation angle to vary dynamically as frames move relative to one another. With the default settings, the image will be rotated so that the top of the image matches the up direction the base_link.

Subscribed Topics

  • image (sensor_msgs/Image): Image to be rotated.

  • camera_info (sensor_msgs/CameraInfo): Camera metadata, only used if use_camera_info is set to true.

Published Topics

  • rotated/image (sensor_msgs/Image): Rotated image.

  • out/camera_info (sensor_msgs/CameraInfo): Camera metadata, with binning and ROI fields adjusted to match output raw image.

Parameters

  • target_frame_id (str, default: base_link): Frame in which the target vector is specified. Empty means the input frame.

  • target_x (double, default: 0.0): X coordinate of the target vector. Range: -10.0 to 10.0.

  • target_y (double, default: 0.0): Y coordinate of the target vector. Range: -10.0 to 10.0.

  • target_z (double, default: 1.0): Z coordinate of the target vector, Range: -10.0 to 10.0.

  • source_frame_id (str, default: “”): Frame in which the source vector is specified. Empty means the input frame.

  • source_x (double, default: 0.0): X coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0.

  • source_y (double, default: 0.0): Y coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0.

  • source_z (double, default: 1.0): Z coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0.

  • input_frame_id (str, default: “”): Frame to use for the original camera image. Empty means that the frame in the image or camera_info should be used depending on use_camera_info.

  • output_frame_id (str, default: “”): Frame to publish for the image’s new orientation. Empty means add ‘_rotated’ suffix to the image frame.

  • use_camera_info (bool, default: True): Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.

  • max_angular_rate (double, default: 10.0): Limits the rate at which the image can rotate (rad/s). Zero means no limit. Range: 0.0 to 100.0.

  • output_image_size (double, default: 2.0): Size of the output image as a function of the input image size. Can be varied continuously between the following special settings:

    • 0 ensures no black ever appears

    • 1 is small image dimension

    • 2 is large image dimension

    • 3 is image diagonal