stereo_image_proc vertical baseline

asked 2018-01-17 18:31:01 -0500

2ROS0 gravatar image

updated 2018-01-19 13:00:17 -0500


Does stereo_image_proc have the functionality to handle vertical baseline stereo cameras? So the camera_info topic will contain a relatively large translation in y (as opposed to a relatively large translation in x).

If not, then the best way I see to change this, is to rotate the images by 90 degrees at the driver level itself, so that the cameras are calibrated to the rotated horizontal (thereby vertical) baseline and then pass everything downstream from the driver through the standard stereo_image_proc pipeline.


edit: would it be possible to easily change the stereo_image_proc algorithm to take a "vertical baseline" flag to make it look for matches along the vertical direction. or would this need a lot of changes throughout the library?

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It's probably easier to rotate the images 90 degrees and use the existing system to be honest, although you could make a node to subscribe, rotate and re-publish the images which would avoid needing to do anything at the driver level.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-01-19 13:56:31 -0500 )edit