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Correct way to publish stereo camera information?

asked 2015-08-14 05:24:21 -0600

Myzhar gravatar image

Hi all,

I'm writing the driver for the StereoLabs ZED stereo camera ( ).

I have a doubt: the StereoLabs SDK API provides automatically Disparity Map and Depth Map, so I would like to publish them directly. Which is the correct way to add camera information to "sensor_msgs::CameraInfo"?

From the SDK I have Intrinsic Matrix and Distortion parameters for both left and right cameras, the baseline and the convergence angle. Must I calculate the R Matrix and the P Matrix or is it not necessary?

Thank you in advance for help


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answered 2015-08-14 15:36:05 -0600

Hi Walter,

There are lots of valid approaches here, but one reasonable approach would be to try to (as closely as possible, anyway) create a ROS node that matches the topic and parameter names of the stereo_image_proc node, which lots of people would be familiar with already.

Cheers, -mq

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This is exactly what I'm doing. But stereo_image_proc starts from left and right images and calculates disparity maps. With ZED camera I have disparity and depth map, so is it necessary to calculate R matrix starting from "convergence" angle?

Myzhar gravatar image Myzhar  ( 2015-08-14 17:35:56 -0600 )edit

You don't need to run stereo_image_proc, you just want to publish the same topics and parameters as it does. In theory at least, the downstream subscribers of stereo/points (for example) aren't concerned with how the disparity and depth maps were produced.

Morgan gravatar image Morgan  ( 2015-08-14 17:55:45 -0600 )edit

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Asked: 2015-08-14 05:24:21 -0600

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Last updated: Aug 14 '15