<p>Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.</p><p>This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.</p><p>It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.</p>
