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Rviz Camera Display Snapshots possible?

asked 2015-03-24 14:13:37 -0500

fergo gravatar image

HI there,

I have visualized a textured mesh in rviz based on depth and camera data. To view it from a certain camera perspective (not necessarily the one used for texturing) I am using the camera display with appropriate camera_info and image topics (the image is not interesting here since I only want the textured mesh to be displayed). So now I can see the mesh through a virtual camera with certain intrinsic and extrinsic parameters.

What I further want, is to save the displayed image to a file. Preferably everytime the topic containing the textured mesh gets updated. I considered simply taking screenshots, but the resolution (and aspectratio/fov) would not match the specified camera parameters for the virtual camera.

So is it possible to save the image from the camera display with the specified size in the camera_info topic?

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lucasw gravatar image lucasw  ( 2016-02-21 09:43:55 -0500 )edit

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answered 2015-03-24 20:48:16 -0500

William gravatar image

I'm not aware of a way to do this automatically. You could probably write an rviz plugin to do it though. You'd need to learn how to make a plugin:

http://docs.ros.org/indigo/api/rviz_p...

and then maybe inherit from the ImageDisplay or the CameraDisplay classes:

https://github.com/ros-visualization/...

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Asked: 2015-03-24 14:13:37 -0500

Seen: 645 times

Last updated: Mar 24 '15