Image upside down when streaming to ROS

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Rick Shen
Posts: 4
Joined: 15 Oct 2018, 01:30

Image upside down when streaming to ROS

Post by Rick Shen » 19 Oct 2018, 19:09

Hi, I am using ROSInterface to streaming VisionSensor data to ROS. However, when I run the demo scene rosInterfaceTopicPublisherAndSubscriber.ttt from VREP official ROS tutorial, the image published to ros is upside down.

I never change any code from the template. The passive vision sensor is having a normal display. But the image_view and Rviz all shows upside down.

Why is this happen? How to solve this problem?

BTW, I saw a previous discussion to add a "flip image vertically" filter. But that will also flip the display in the VREP, which influence the simulation effect.

The problem is similar in this ROS answer but I don't quite understand what they mean.
Image

coppelia
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Posts: 6792
Joined: 14 Dec 2012, 00:25

Re: Image upside down when streaming to ROS

Post by coppelia » 23 Oct 2018, 06:42

Hello,

you can flip the retrieved image buffer with following:

Code: Select all

    local data,w,h=sim.getVisionSensorCharImage(activeVisionSensor)
    sim.transformImage(data,{w,h},4)
Cheers

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