masker_util

A ROS package for Image masking & cropping utility for fisheye / wide-angle / omnidirectional image.

Installation

Git clone the repository into your workspace (e.g. catkin_ws).

$ cd catkin_ws/src
$ git clone https://github.com/1487quantum/masker_util.git

After that, recompile the workspace.

$ catkin_make

Launch files

Launch the masker_util node via masker_util_mono.launch.

$ roslaunch masker_util masker_util_mono.launch

To mask the image feed, the masker_util_stereo.launch could be used.

$ roslaunch masker_util masker_util_stereo.launch

Modes

There are 2 modes for the masker utils:

• Normal Mode: Apply the mask on the output image.
• Debug Mode (Default): Used to position and set the mask in place, with the markings overlay to guide the placement of the mask.

Normal Mode	Debug Mode

Legend

• Green cross marker: Represents the center of the image.
• Blue plus marker: Represnts the center of the circle mask.
• Blue circle: Represents the mask. Area outside the circle would be filtered out as black.
• Rectanglular border: Represents the new image size, which would be cropped to center the image output.

Topics

Subscriber

Topic Name	Type	Description
/img_in	image_transport::CameraSubscriber	Subscribes to both /img_in/image_raw and /img_in/camera_info of /img_in. Specify only the camera namespace.

Publisher

Topic Name	Type	Description
/img_out/image_raw	sensor_msgs::Image	Publishes raw image output.
/img_out/camera_info	sensor_msgs::CameraInfo	Publishes output image camera info.

Note: /img_out is the default value of the output_img_topic parameter, this could be changed via the launch file.

Parameters

The mask could be adjusted via rqt_reconfigure.

Parameters	Description	Type	Range
SET_MASK	To toggle Debug Mode	Bool(ean)	0 <-> 1
CENTER_X	The center x coordinate of the circle mask	Int(eger)	-500 <-> 500
CENTER_Y	The center y coordinate of the circle mask	Int(eger)	-500 <-> 500
RADIUS	The radius of the circle mask	Int(eger)	500 <-> 900
BORDER_X	The width padding of the cropped image output. Set it to 0 for no padding.	Int(eger)	0 <-> 200
BORDER_Y	The height padding of the cropped image output. Set it to 0 for no padding.	Int(eger)	0 <-> 200

Note: The param directory is used to store the parameters of the masks (in .yaml format).

Services

• /img_out/image_raw/compressed/set_paramters
• /img_out/image_raw/compressedDepth/set_paramters
• /img_out/set_camera_info