On Thu, Mar 18, 2010 at 4:40 PM, Patrick Mihelich wrote: > On Wed, Mar 17, 2010 at 8:27 PM, Jack O'Quin wrote: >> Are there reasonable defaults to use when these data are not >> available? > > You should leave the calibration matrices as all zeros, which is what the > CameraInfo constructor sets them to. image_proc and stereo_image_proc > understand that to mean that the camera is uncalibrated. In that case they > will only publish on the debayered image_mono and image_color topics; all > the other topics (rectified images, stereo outputs) require a calibrated > camera. OK, thanks. >> It would be useful to display the images in rviz (which >> actually does display, but with an error and with the camera window >> covering the upper left of the rviz window). > > I think rviz is correct to complain, as its image viewer wants to display > the image in the context of whatever else rviz knows about the environment. > That requires knowing the frame and calibration of the camera. Probably > rviz's behavior and error message could be improved for this case though. Posting an "error: NaN in Projection matrix" is not very user-friendly. Posting a "warning: this camera is not calibrated" and then displaying the image somewhere in the viewing field would be much better. > image_view doesn't care about the camera info. And that works fine. -- joq