how do calibration parameters change on halving the image
Hi,
How do the intrinsics and extrinsics change if we half the image i.e.
heightnew = height/2 widthnew = width/2
In the CameraInfo
message, obviously the height
and width
change but how do you modify K
D
R
and P
?
Thank you
Asked by 2ROS0 on 2020-01-31 11:08:31 UTC
Answers
I think this shouldn't necessarily change the extrinsic parameters, since this parameters basically defines a transform between two "rigid" bodies(e.g you use this parameters to transform a LIDAR point to camera frame, all in 3D space). However this should change the intrinsic parameters. If you look at, what parameters are regraded as intrinsic ones; From wiki;
So from here one will expect the change in size of your image should effect principal point(u_0,v_0). Principal point would/should be multiplied by the factor you divide your image.
Asked by Fetullah Atas on 2020-03-02 00:30:19 UTC
Comments
This doesn't answer your question, but image_proc will do all of the operations for you with
crop_decimate
orresize
nodes or nodelets.Asked by Thomas D on 2020-02-01 10:55:32 UTC