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Do I have to rectify/crop images before process them with viso2_ros mono_odometry?

asked 2012-10-16 06:40:48 -0500

aldo85ita gravatar image

Hi everybody, I'd like to understand if it's mandatory to rectify and crop images before process them with viso2_ros mono_odometry. I mean: does this latest library compute monocular odometry receiving unrectified images?

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answered 2012-10-16 09:04:01 -0500

Stephan gravatar image

Yes, it is mandatory to rectify the images before feeding them to viso2_ros. And no, the library does not compute odometry using unrectified images. To produce rectified images you can use the package image_proc. Your camera driver should publish sensor_msgs/Image together with sensor_msgs/CameraInfo containing the calibration. image_proc then creates the rectified image for you which you can feed into viso2_ros.

A sample launch file would look like this:

<!-- example launch file for mono_odometer -->
  <arg name="camera"/> <!-- camera must be set at launch -->
  <node name="image_proc" pkg="image_proc" type="image_proc" ns="$(arg camera)"/>
  <node name="mono_odometer" pkg="viso2_ros" type="mono_odometer" output="screen">
    <remap from="image" to="$(arg camera)/image_rect" />
    <param name="camera_height" value="0.5" /> <!-- cam is 0.5m above ground -->
    <param name="camera_pitch" value="0.0" /> <!-- cam is looking straight forward -->
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answered 2012-10-16 07:00:19 -0500

From the documentation, it appears the answer is "yes":

image (sensor_msgs/Image) The rectified input image. There must be a corresponding camera_info topic as well. Internally, image_transport::CameraSubscriber is used to synchronize between both.

from MonoOdometer subcribed topics.

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Asked: 2012-10-16 06:40:48 -0500

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Last updated: Oct 16 '12