This node publishes all the images contained in an specified folder, in the specified topic. The images will be published in BGR8 format.
- Clone this repo
git clone https://github.com/amc-nu/RosImageFolderPublisher - Change to repo dir
cd StereoRosImageFolderPublisher - Execute
catkin_make - Source the workspace
source devel/setup.bash
If you want to integrate this into another catkin workspace, just copy the image_folder_publisher into the src target workspace.
Once in a sourced terminal, execute:
rosrun image_folder_publisher image_folder_publisher.py
or
roslaunch image_folder_publisher publisher.launch
| Param name | Type | Description | Default Value |
|---|---|---|---|
topic_name_left |
String | Name of the topic to publish the left image stream. | image_raw_left |
topic_name_right |
String | Name of the topic to publish the right image stream. | image_raw_right |
publish_rate |
Integer | Frame rate in Hz to publish the image. | 10 |
sort_files |
Boolean | Defines if the files will be sorted before publishing. | True |
simulate_camera |
Boolean | Simulates the camera intrinsic values and camera info as a real stereo camera. | True |
stereo_baseline |
Boolean | Sets the stereo baseline of the camera. | True |
simulated_camera_fov |
float | Sets the FOV of the inputted images. Used to calculate camera intrisics. | 90.0 |
frame_id |
String | Sets the frame_id_left contained in the Image message header | /ispies/stereo_camera |
image_folder_left |
String | Path to the folder containing the images to be published | |
image_folder_right |
String | Path to the folder containing the images to be published | |
sleep |
Int | Sleep few seconds to make sure the images process nodes are started | 0 |
Images are outputted to <topic_name_left>/image_rect.
Camera info are outputted to <topic_name_left>/camera_info.
rosrun image_folder_publisher image_folder_publisher.py image_folder_left:=/PATH/Images_left image_folder_right:=/PATH/Images_right _topic_name_left:=/image_topic_left _topic_name_right:=/image_topic_right
or modify these in publisher.launch
- Invalid files will be skipped. The supported image formats will correspond to the ones supported by CvBridge and OpenCV.
- Publish Rate will depend on the speed of the Hard disk.
This repository is a fork from the original repository at: https://github.com/amc-nu/RosImageFolderPublisher