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image_rect cropped?

asked 2015-10-05 02:30:22 -0600

theDrGray gravatar image

I am having an issue where my image_rect output from stereo)image_proc is being cropped way down to a small section of the center/far right of the image_raw topic. As far as I can tell, I am not feeding these values to rectify anywhere throughout my launch file.

Im using 2 Flea3 Monochrome USB3 cameras in Ubunut 14.04.1 using indigo. To get the cameras up and running, Im using the following package from Kumar Robotics:

https://github.com/KumarRobotics/flea3

In the screen shot you can see that image_raw topic is the entire room, in the image_rect the topic is cropped down to nothing.

https://i.imgur.com/QRrzelN.jpg

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answered 2015-10-05 02:37:51 -0600

ahendrix gravatar image

The parameters that are passed to image rectification process come from the camera calibration, and are published on the camera_info topic.

Have you calibrated your cameras yet? What are the resulting calibration parameters?

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I used camera_calibration, and it seemed to go well. Got a total of 173 samples (went over kill by accident).

This is the yaml for the right camera:

https://drive.google.com/file/d/0Bw2t...

theDrGray gravatar imagetheDrGray ( 2015-10-05 04:13:21 -0600 )edit

I recalibrated for good measure and it opened up he crop drastically. I am now centered and seeing roughly 80% of image_raw in image_rect. Much appreciated for steering me in that direction!

theDrGray gravatar imagetheDrGray ( 2015-10-05 13:32:05 -0600 )edit

yeah. very occasionally the calibration comes up with a bad fit, and it needs to be recalibrated.

ahendrix gravatar imageahendrix ( 2015-10-05 13:37:21 -0600 )edit

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Asked: 2015-10-05 02:30:22 -0600

Seen: 166 times

Last updated: Oct 05 '15