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Is there a topic for camera FOV info?

asked 2020-07-22 08:55:06 -0500

Myzhar gravatar image

Hi, I'd like to publish info about the field of view of a camera, but I cannot find a standard topic for this information. Before creating a custom topic I want to be sure that there is nothing just ready for it.

Thank you Walter

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answered 2020-07-22 09:44:58 -0500

Mehdi. gravatar image

The information about the camera FOV can be extracted from the camera info message of your camera, so it is kind of redundant to publish the FOV separately. And to answer your question, there isn't a message for publishing a camera FOV, at least not in the official ROS packages.

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Do you mean using those formulas? fov_x = 2 * atan2( w, (2*f_x) ) and fov_y = 2 * atan2( h, (2*f_y) )

Myzhar gravatar image Myzhar  ( 2020-07-22 09:51:21 -0500 )edit

yes something like that.

Mehdi. gravatar image Mehdi.  ( 2020-07-22 10:46:43 -0500 )edit

It will be very helpful if you could add for how to extract FOV from the camera_info message. The first comment doesn't state what each parameter is, and where it is taken from.

omers gravatar image omers  ( 2022-09-18 02:08:36 -0500 )edit

W is image width and h is image height in pixels. F_x and f_y are the focal lengths, from the camera matrix K[0][0] and K[1][1]

Mehdi. gravatar image Mehdi.  ( 2022-09-19 06:59:14 -0500 )edit

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Asked: 2020-07-22 08:55:06 -0500

Seen: 600 times

Last updated: Jul 22 '20