ROS1 Publish Camera Info
This node publishes camera info as a ROS1 CameraInfo message
Installation
To use this node enable omni.isaac.ros_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Focal Length (inputs:focalLength) |
|
focal length |
0.0 |
Frame Id (inputs:frameId) |
|
FrameId for ROS1 message |
sim_camera |
Height (inputs:height) |
|
Height for output image |
0 |
Horizontal Aperture (inputs:horizontalAperture) |
|
horizontal aperture |
0.0 |
Horizontal Offset (inputs:horizontalOffset) |
|
horizontal offset |
0.0 |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
Physical Distortion Coefficients (inputs:physicalDistortionCoefficients) |
|
physical distortion model used for approximation, physicalDistortionModel must be set to use these coefficients |
[] |
Physical Distortion Model (inputs:physicalDistortionModel) |
|
physical distortion model used for approximation, if blank projectionType is used |
|
Projection Type (inputs:projectionType) |
|
projection type |
|
Queue Size (inputs:queueSize) |
|
The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent |
10 |
Stereo Offset (inputs:stereoOffset) |
|
Stereo offset is the baseline between cameras in x and y component of the image plane in meters. (Tx, Ty is calculated using x and y component of StereoOffset value. i.e., Tx=fx*stereoOffset.X, Ty=fy*stereoOffset.Y). Used when publishing to the camera info topic |
[0.0, 0.0] |
Timestamp (inputs:timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
camera_info |
Vertical Aperture (inputs:verticalAperture) |
|
vertical aperture |
0.0 |
Vertical Offset (inputs:verticalOffset) |
|
vertical offset |
0.0 |
Width (inputs:width) |
|
Width for output image |
0 |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros_bridge.ROS1PublishCameraInfo |
Version |
1 |
Extension |
omni.isaac.ros_bridge |
Icon |
ogn/icons/omni.isaac.ros_bridge.ROS1PublishCameraInfo.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Publish Camera Info |
Categories |
isaacRos:publisher |
Generated Class Name |
OgnROS1PublishCameraInfoDatabase |
Python Module |
omni.isaac.ros_bridge |