Merge pull request #2753 from knorth55/panorama-info-image-shape

Author: k-okada

doc/jsk_perception/nodes/rect_array_in_panorama_to_bounding_box_array.md

@@ -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.

jsk_perception/node_scripts/rect_array_in_panorama_to_bounding_box_array.py

@@ -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)

jsk_perception/sample/sample_rect_array_in_panorama_to_bounding_box_array.launch

@@ -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)" />

jsk_perception/src/dual_fisheye_to_panorama.cpp

@@ -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();
   }

jsk_recognition_msgs/msg/PanoramaInfo.msg

@@ -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