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add image_height and image_width in PanoramaInfo #2753

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merged 9 commits into from
Jan 25, 2023
Merged

add image_height and image_width in PanoramaInfo #2753

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cf9c01d
add image_height and image_width in PanoramaInfo
knorth55 Dec 7, 2022
af18088
publish panorama info with image shape from dual_fisheye_to_panorama
knorth55 Dec 7, 2022
76106a7
get image shape from panorama info
knorth55 Dec 7, 2022
b304ccf
do not exit when message does not arrived
knorth55 Dec 7, 2022
8f26268
remvoe unnecessary line
knorth55 Dec 7, 2022
040b769
update doc
knorth55 Dec 7, 2022
b9d5a12
Merge branch 'master' into panorama-info-image-shape
knorth55 Dec 13, 2022
24918fc
Merge branch 'master' into panorama-info-image-shape
knorth55 Dec 22, 2022
ee9051a
Merge branch 'master' into panorama-info-image-shape
k-okada Jan 24, 2023
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4 changes: 0 additions & 4 deletions doc/jsk_perception/nodes/rect_array_in_panorama_to_bounding_box_array.md
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Expand Up @@ -7,10 +7,6 @@ Sample is `sample_rect_array_in_panorama_to_bounding_box_array.launch`

## Subscribing Topics

* `~panorama_image` (`sensor_msgs/Image`)

Panorama image topic.

* `~panorama_info` (`jsk_recognition_msgs/PanoramaInfo`)

Panorama info topic.
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20 changes: 10 additions & 10 deletions jsk_perception/node_scripts/rect_array_in_panorama_to_bounding_box_array.py
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Expand Up @@ -50,22 +50,22 @@ def __init__(self):
self._dimensions_labels = rospy.get_param( '~dimensions_labels', {} )
self._duration_timeout = rospy.get_param( '~duration_timeout', 0.05 )

try:
msg_panorama_image = rospy.wait_for_message(
'~panorama_image', Image, 10)
msg_panorama_info = rospy.wait_for_message(
'~panorama_info', PanoramaInfo, 10)
except (rospy.ROSException, rospy.ROSInterruptException) as e:
rospy.logerr('{}'.format(e))
sys.exit(1)
msg_panorama_info = None
while (not rospy.is_shutdown() and msg_panorama_info is None):
try:
msg_panorama_info = rospy.wait_for_message(
'~panorama_info', PanoramaInfo, 10)
except (rospy.ROSException, rospy.ROSInterruptException) as e:
rospy.logerr('~panorama_info is not subscribed...')
rospy.logerr('waiting ~panorama_info for more 10 seconds')

self._frame_panorama = msg_panorama_info.header.frame_id
self._theta_min = msg_panorama_info.theta_min
self._theta_max = msg_panorama_info.theta_max
self._phi_min = msg_panorama_info.phi_min
self._phi_max = msg_panorama_info.phi_max
self._image_height = msg_panorama_image.height
self._image_width = msg_panorama_image.width
self._image_height = msg_panorama_info.image_height
self._image_width = msg_panorama_info.image_width

self._tf_buffer = tf2_ros.Buffer()
self._tf_listener = tf2_ros.TransformListener(self._tf_buffer)
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1 change: 0 additions & 1 deletion jsk_perception/sample/sample_rect_array_in_panorama_to_bounding_box_array.launch
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Expand Up @@ -47,7 +47,6 @@
type="rect_array_in_panorama_to_bounding_box_array.py"
name="rect_array_in_panorama_to_bounding_box_array"
>
<remap from="~panorama_image" to="$(arg INPUT_PANORAMA_IMAGE)" />
<remap from="~panorama_info" to="$(arg INPUT_PANORAMA_INFO)" />
<remap from="~input_class" to="$(arg INPUT_CLASS)" />
<remap from="~input_rects" to="$(arg INPUT_RECTS)" />
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2 changes: 2 additions & 0 deletions jsk_perception/src/dual_fisheye_to_panorama.cpp
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Expand Up @@ -92,6 +92,8 @@ namespace jsk_perception
msg_panorama_info_.theta_max = M_PI;
msg_panorama_info_.phi_min = -M_PI;
msg_panorama_info_.phi_max = M_PI;
msg_panorama_info_.image_height = output_image_height_;
msg_panorama_info_.image_width = output_image_width_;

onInitPostProcess();
}
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8 changes: 7 additions & 1 deletion jsk_recognition_msgs/msg/PanoramaInfo.msg
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Expand Up @@ -11,7 +11,13 @@ std_msgs/Header header
string projection_model

#######################################################################
# Field of View Parameters #
# Image shape info #
#######################################################################
uint32 image_height
uint32 image_width

#######################################################################
# Field of View Parameters #
#######################################################################
float64 theta_min
float64 theta_max
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