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how to modify and publish camera_info?

asked 2016-10-04 08:42:21 -0600

baozhang gravatar image

updated 2016-10-04 11:21:21 -0600

gvdhoorn gravatar image

Hello.

I would like to make a cropped image from raw image in python.

In my program, I can subscribe /usb_cam/image_raw (sensor_msgs/Image, height=480, width=640) and /usb_cam/camera_info (sensor_msgs/CameraInfo).

Then, I modified roi in /usb_cam/camera_info like below,

edited_camera_info.roi.x_offset = 320
edited_camera_info.roi.y_offset = 240

and publish edited camera info and image.

pub_edited_image.publish(no_edited_image)
pub_edited_camera_info.publish(edited_camera_info)

However, there are no differences between /usb_cam/image_raw and /editted_image_raw.

Is it possible to crop a part of an image by modifying camera_info? Or, is there any alternative ways to realize to crop an image?

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answered 2016-10-04 11:22:28 -0600

gvdhoorn gravatar image

No, I don't think that is supposed to work like that.

For cropping an image have a look at the image_proc package, in particular the image_proc/crop_decimate nodelet.

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Thank you for replying.

I decided to use image_proc/crop_decimate nodelet.

baozhang gravatar imagebaozhang ( 2016-10-04 22:34:52 -0600 )edit

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Asked: 2016-10-04 08:42:21 -0600

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Last updated: Oct 04 '16