camerainfo different from the definition ros document

asked 2016-02-17 21:44:55 -0600

jhlim6 gravatar image

Hi,

I notice that when I echo out the camerainfo, left and right, I received a different Projection matrix than what is expected from ros doc.

Left:
P: [1.470061237672634, 0.0, 0.558421063485309, 0.0,
1.470061237672634, 0.5224868333963834, 0.0, 0.0,
1.0, 0.0, 0.0, 0.0]
expected
P [fx' 0 cx' Tx]
= [ 0 fy' cy' Ty]
[ 0 0 1 0]

also what is the do_rectify under the section ROI of camerainfo

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Comments

Please provide a link to the document you're referring to.

ahendrix gravatar imageahendrix ( 2016-02-17 22:53:56 -0600 )edit

hi ahendrix, the document i'm referring to is
sensor_msgs/camerainfo

jhlim6 gravatar imagejhlim6 ( 2016-02-17 23:54:12 -0600 )edit

I'm not sure why it doesn't match, but the code which generates that calibration matrix is https://github.com/ros-perception/ima... , and it uses the OpenCV calibration algorithms.

ahendrix gravatar imageahendrix ( 2016-02-18 02:13:05 -0600 )edit