[jsk_perception] support sensor_msgs/PanoramaInfo with adding a publisher to DualFisheyeToPanorama node

[sktometometo]

I defined PanoramaInfo message for meta information of panorama images.
The message have fields below.

• header (std_msgs/Header)
• projection_model (string)
  • describing the projection model of a panorama image.
  • Currently, only "equirectangular" is used. But use of other projection models is possible. e.g. "mercator"
• theta_min, theta_max, phi_min, phi_max (float64)
  • describing the region of shown image in spherical coordinate system

And I added a publisher of PanoramaInfo.msg to DualFisheyeToPanorama for example usage.

[k-okada]

please cleate PR to https://github.com/ros/common_msgs/pulls -- ◉ Kei Okada 2021年3月12日(金) 8:51 Koki Shinjo ***@***.***>:

…

I defined PanoramaInfo message for meta information of panorama images. The message have fields below. - header (std_msgs/Header) - projection_model (string) - describing the projection model of a panorama image. - Currently, only "equirectangular" is used. But use of other projection models is possible. e.g. "mercator" - theta_min, theta_max, phi_min, phi_max (float64) - describing the region of shown image in spherical coordinate system <https://en.wikipedia.org/wiki/Spherical_coordinate_system> And I added a publisher of PanoramaInfo.msg to DualFisheyeToPanorama for example usage. ------------------------------ You can view, comment on, or merge this pull request online at: #2579 Commit Summary - [jsk_recognition_msgs] add PanoramaInfo.msg - [jsk_perception] add a Publisher of PanoramaInfo to dual_fisheye_to_panorama node File Changes - *M* jsk_perception/include/jsk_perception/dual_fisheye_to_panorama.h <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579/files#diff-a4fe09c7d4bec16bd3150eb592811d103cee6e7d166e8bd981e7d6e4099847e5> (4) - *M* jsk_perception/src/dual_fisheye_to_panorama.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579/files#diff-752499635bd725c972cec6c0c91f1e16123c6a2e99bf7a3d07f85a15ecb32d2a> (10) - *M* jsk_recognition_msgs/CMakeLists.txt <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579/files#diff-edd8861c8a2edf1020dd887a14dc2c90da6b09bd02ce6f9a69c93eea184fc8fb> (1) - *A* jsk_recognition_msgs/msg/PanoramaInfo.msg <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579/files#diff-f8134095ed332a0934d3b8445813c373b0be4f6312bc307bd83652779423f86c> (19) Patch Links: - https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579.patch - https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579.diff — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#2579>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXD2FQT5UWZ6Y73OISLTDFJPNANCNFSM4ZBHSX4A> .

[sktometometo]

PanoramaInfo.msg is defined in ros/common_msgs#171.

Change panorama info publisher of DualFisheyeToPanorama to use sensor_msgs/Panoramainfo

[sktometometo]

Example usage of PanoramaInfo will be in #2581

[k-okada]

LGTM

[k-okada]

failing with

/workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_perception/src/dual_fisheye_to_panorama.cpp:36:
/workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_perception/include/jsk_perception/dual_fisheye_to_panorama.h:43:10: fatal error: sensor_msgs/PanoramaInfo.h: No such file or directory
   43 | #include <sensor_msgs/PanoramaInfo.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/jsk_perception.dir/build.make:219: CMakeFiles/jsk_perception.dir/src/dual_fisheye_to_panorama.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....