This file make 4 RGB image to 1 Panorama image

Car model :: Tesla model 3

Camera resolution :: 1024,1024

Panorama resolution :: (3336,760)

'util/point.json' file has pixel position for cutting image. If you want to change the resolution and 'f value'' in 'subscriber.py', you should reestimate the position and f value

Sample Image(4 images)

Panorama Image

Output Image

carla: URL "https://carla.readthedocs.io/en/latest/start_quickstart/"

ros(Melodic): URL "http://wiki.ros.org/melodic/Installation/Ubuntu"

Checked at Ubuntu 18.04 + ros Melodic

python ros_publisher.py

open another window

python ros_subscriber.py

Default settings of subscriber is publishing mode that publish Panorama image. You can choose to turn on Publish mode or Save mode

If you turn on the Save mode

python ros_subscriber.py --publish False --save True

At first, it will make a directory that named with 'YYYYMMDD_HHMMSS'

After that, the panorama image will be saved.