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Camera_info for a camera publishing already rectified images

asked 2016-05-02 22:02:02 -0500

JustinBlack02 gravatar image

I have a camera which gives me images which are already rectified. I'm writing the ROS driver for it and I'm wondering what I should do with the camera_info message. Should I :

  • Calibrate the camera and publish the intrinsic parameters in the camera_info message
  • Calibrate the camera and publish the projection matrix but set the distortion parameters to 0
  • Not calibration and set all the camera_info parameters to 0

For the record, I do not have access to the prerectified image, only the final result.

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answered 2016-05-05 10:12:14 -0500

joq gravatar image

updated 2016-05-05 10:36:55 -0500

  • Setting the first element of the intrinsic matrix, K[0], to 0.0 should be accepted by the various image pipeline components as a "raw" or uncalibrated image. That would probably work fine for your device.

  • Alternatively, you could run the ROS calibration tool and publish its calibration. I would expect that to work OK with your already-calibrated images, although you should experiment to confirm that guess. Edit: experiment revealed unsatisfactory results.

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Thanks!

For the second part of your answer, I did try but after the second rectification everything looks a lot worse .

JustinBlack02 gravatar imageJustinBlack02 ( 2016-05-05 10:32:22 -0500 )edit

Good to know, thanks for following up.

joq gravatar imagejoq ( 2016-05-05 10:33:57 -0500 )edit

It's not customary to close a question just because it has an acceptable answer. I'll re-open it.

joq gravatar imagejoq ( 2016-05-05 10:35:08 -0500 )edit

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Asked: 2016-05-02 22:02:02 -0500

Seen: 129 times

Last updated: May 05 '16