Ask Your Question
0

how do calibration parameters change on halving the image

asked 2020-01-31 10:08:31 -0500

2ROS0 gravatar image

updated 2020-01-31 10:09:06 -0500

Hi,

How do the intrinsics and extrinsics change if we half the image i.e.

height_new = height/2 width_new = width/2

In the CameraInfo message, obviously the height and width change but how do you modify K D R and P?

Thank you

edit retag flag offensive close merge delete

Comments

This doesn't answer your question, but image_proc will do all of the operations for you with crop_decimate or resize nodes or nodelets.

Thomas D gravatar image Thomas D  ( 2020-02-01 09:55:32 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2020-03-01 23:30:19 -0500

Fetullah Atas gravatar image

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;

image description

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2020-01-31 10:08:31 -0500

Seen: 45 times

Last updated: Mar 01 '20