CameraInfoPublisher QML Type

Publishes sensor_msgs::msg::CameraInfo messages — This message defines meta information for a camera. It should be in a camera namespace on topic "camera_info" and accompanied by up to five image topics named:. More...

• List of all members, including inherited members

Properties

• binningX : uint32_t
• binningY : uint32_t
• d : list<double>
• distortionModel : string
• header : header
• height : uint32_t
• k : list<double>
• p : list<double>
• r : list<double>
• roi : regionOfInterest
• width : uint32_t

Methods

• void publish(cameraInfo msg)

Detailed Description

• image_raw - raw data from the camera driver, possibly Bayer encoded
• image - monochrome, distorted
• image_color - color, distorted
• image_rect - monochrome, rectified
• image_rect_color - color, rectified

The image_pipeline contains packages (image_proc, stereo_image_proc) for producing the four processed image topics from image_raw and camera_info. The meaning of the camera parameters are described in detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.

The image_geometry package provides a user-friendly interface to common operations using this meta information. If you want to, e.g., project a 3d point into image coordinates, we strongly recommend using image_geometry.

If the camera is uncalibrated, the matrices D, K, R, P should be left zeroed out. In particular, clients may assume that K[0] == 0.0 indicates an uncalibrated camera.

Image acquisition info

CameraInfoPublisher publishes cameraInfo values to a ROS 2 topic. Set the topic and node properties, then call publish() to send messages.

See also CameraInfoSubscriber and cameraInfo.

Property Documentation

binningX : uint32_t

The binningX field value included in the next publish. Setting this property emits binningXChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

binningY : uint32_t

The binningY field value included in the next publish. Setting this property emits binningYChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

d : list<double>

The d field value included in the next publish. Setting this property emits dChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

distortionModel : string

The distortionModel field value included in the next publish. Setting this property emits distortionModelChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

header : header

The header field value included in the next publish. Setting this property emits headerChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

height : uint32_t

The height field value included in the next publish. Setting this property emits heightChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

k : list<double>

The k field value included in the next publish. Setting this property emits kChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

p : list<double>

The p field value included in the next publish. Setting this property emits pChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

r : list<double>

The r field value included in the next publish. Setting this property emits rChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

roi : regionOfInterest

The roi field value included in the next publish. Setting this property emits roiChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

width : uint32_t

The width field value included in the next publish. Setting this property emits widthChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

Method Documentation

void publish(cameraInfo msg)

Publishes cameraInfo msg to the ROS 2 topic set by the topic property. Does nothing if the publisher is not connected.