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Does ROS have convenience function calls to convert from world XYZ to camera XY using the camera_info message?

asked 2011-04-11 05:45:30 -0500

The information is available in the camera_info message, but using standard functionality to convert would be much less error prone, and much less sloppy. Does such functionality exist?

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answered 2011-04-11 06:04:38 -0500

Eric Perko gravatar image

The image_geometry package contains helpers to do this.

There is a tutorial for how to project the XYZ origin of a reference frame into an image, so it should be an excellent example for what you described.

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answered 2011-04-21 10:53:28 -0500

It turns out the "P" matrix in the camera_info message does this more or less directly. I was able to do the needed transformation this way:

From the camera_info callback

m_worldToCamera = Eigen::Matrix<double,3,4,Eigen::RowMajor>( msg->P.data() );

And then later

Eigen::Vector3d imgPoint;
cameraPoint = m_worldToCamera * Eigen::Vector4d( point.x(), point.y(), point.z(), 1 );

Eigen::Vector2d flatPoint;
flatPoint.x() = cameraPoint.x() / cameraPoint.z();
flatPoint.y() = cameraPoint.y() / cameraPoint.z();
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Asked: 2011-04-11 05:45:30 -0500

Seen: 1,084 times

Last updated: Apr 21 '11