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43 lines
2 KiB
Nix
43 lines
2 KiB
Nix
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# Copyright 2025 Open Source Robotics Foundation
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# Distributed under the terms of the BSD license
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{ lib, buildRosPackage, fetchurl, ament-cmake-auto, ament-lint-auto, ament-lint-common, class-loader, cv-bridge, geometry-msgs, image-transport, opencv, rcl-interfaces, rclcpp, rclcpp-components, sensor-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
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buildRosPackage {
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pname = "ros-humble-image-rotate";
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version = "3.0.8-r1";
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src = fetchurl {
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url = "https://github.com/ros2-gbp/image_pipeline-release/archive/release/humble/image_rotate/3.0.8-1.tar.gz";
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name = "3.0.8-1.tar.gz";
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sha256 = "5b720dc07aa3ebaebf0b05fa8691e1ee88ae8853df2360bd5d7a39719c5bf225";
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};
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buildType = "ament_cmake";
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buildInputs = [ ament-cmake-auto class-loader ];
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checkInputs = [ ament-lint-auto ament-lint-common ];
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propagatedBuildInputs = [ cv-bridge geometry-msgs image-transport opencv opencv.cxxdev rcl-interfaces rclcpp rclcpp-components sensor-msgs tf2 tf2-geometry-msgs tf2-ros ];
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nativeBuildInputs = [ ament-cmake-auto ];
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meta = {
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description = "<p>
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Contains a node that rotates an image stream in a way that minimizes
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the angle between a vector in some arbitrary frame and a vector in the
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camera frame. The frame of the outgoing image is published by the node.
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</p>
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<p>
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This node is intended to allow camera images to be visualized in an
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orientation that is more intuitive than the hardware-constrained
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orientation of the physical camera. This is particularly helpful, for
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example, to show images from the PR2's forearm cameras with a
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consistent up direction, despite the fact that the forearms need to
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rotate in arbitrary ways during manipulation.
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</p>
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<p>
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It is not recommended to use the output from this node for further
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computation, as it interpolates the source image, introduces black
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borders, and does not output a camera_info.
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</p>";
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license = with lib.licenses; [ bsdOriginal ];
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};
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}
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