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typically each camera in a stereo pair is assigned a different tf frame and the camera info for each camera contains the frame information

# Time of image acquisition, camera coordinate frame ID
Header header    # Header timestamp should be acquisition time of image
                 # Header frame_id should be optical frame of camera
                 # origin of frame should be optical center of camera
                 # +x should point to the right in the image
                 # +y should point down in the image
                 # +z should point into the plane of the image

stereo_image_proc listens on the right/camera_info and left/camera_info topics