How to define the depth parameters for camera_info ?

asked 2015-05-17 21:42:20 -0500

lilouch gravatar image

updated 2015-05-18 20:36:59 -0500


I'm working with visual Odometry and in the code of the algorithm, they want me put the depth parameters i.e the intrasec camera of the depth (camera/depth/camera_info)

The problem is the following: I don't use any sensor for the depth image but I generate it on myself from stereo pictures. Therefore, I don't have the following topic


I have the parameters of the left and right camera (camera/(left|right)/camera_info) and I was able to generate the depth map from this parameters.

However, I have a doubt: I don't know, if therefore I can put same the same intrasec matrix in my depth parameters. I did that and my results are bad...(i mean mainly the scale of the result)

double intra_Image[9] = {707.0912, 0.0, 601.8873, 0.0, 707.0912, 183.1104, 0.0, 0.0, 1.0};
double intra_Depth[9] = {707.0912, 0.0, 601.8873, 0.0, 707.0912, 183.1104, 0.0, 0.0, 1.0};

Here the intra_image represents the intrasec camera parameters whereas the intra_depth is the same but for the depth image (I just copy and past)

Can anyone help me ?


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