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perspective or projection matrix

asked 2014-09-25 04:02:21 -0600


Is there any node/pkg that already implemented the mono camera perspective matrix calculation? I have a mono camera mounted on a fixed place and I would like to get the projection matrix. I know the camera calibration node and I thought there is something similar for this task.

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You will need some assumptions to compute the projection matrix from a mono camera, like some known calibration pattern. What are your assumptions ?

Guido gravatar image Guido  ( 2014-09-25 06:21:35 -0600 )edit

I'm going to do dhte calibration too. I know that I need the intrinsic parameters in order to get the correct perspective matrix. But is there any ready to use node for perspective matrix calculation if I supply the camera calibration files?

zweistein gravatar image zweistein  ( 2014-09-25 06:49:19 -0600 )edit

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answered 2014-09-26 06:26:05 -0600

Sounds like you want to use the image_geometry package. It contains convenience functionality for working with standard ROS camera models (initialized from a CameraInfo message). Specifically, the PinholeCameraModel::fullProjectionMatrix and PinholeCameraModel::projectPixelTo3dRay methods sound like what you´re looking for. See also the associated tutorial for info on how to initialize things from a CameraInfo in a node.

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Asked: 2014-09-25 04:02:21 -0600

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Last updated: Sep 26 '14