Rosen, saw this tutorial: http://www.ros.org/wiki/image_geometry/Tutorials/ProjectTfFrameToImage? D. On Tue, Apr 13, 2010 at 6:40 PM, Rosen Diankov wrote: > So it looks like everyone uses the CameraInfo.P to go from 3D to 2D > rectified image. I know that CameraInfo has been designed very > carefully and evolved over the past 2 years, I don't understand why > the message has both K and P, when P holds the exact same information > and only it is supposed to be used... > > Also, if P describes the 2D/3D relationship for the rectified plane, > and the camera's TF frame is in the original non-rectified plane, what > frame should nodes publish their image measurements in to guarantee > the correct transformations happen? > > thanks, > rosen, > > 2010/4/14 Rosen Diankov : >> Hi Blaise, Dejan, >> >> thank you for the responses. >> >> We have several ros nodes that compute the 6D pose of objects from >> images. This data can come from stereo cameras, or can compute from >> single cameras. Either way, the CameraInfo message explains how the >> image was generated and it provides an intrinsic matrix, so we try to >> be consistent and do all processing depending on what the CameraInfo >> dictates. >> >> I don't understand how nodes can just use rectified images without >> knowing the intrinsic parameters... is there a tf frame that does the >> intrinsic parameter computation? >> >> rosen, >> >> 2010/4/14 Blaise Gassend : >>> Hi Rosen, >>> >>> I believe that the intent is that only image_proc and stereo_image_proc >>> are supposed to look at CameraInfo.D. All other nodes should be running >>> on rectified images and should disregard the distortion parameters. >>> >>> Do you have a use case of a node that needs to be able to run both on >>> rectified and unrectified images and, that needs to use the distortion >>> parameters? >>> >>> Blaise >>> >>> On Tue, 2010-04-13 at 17:42 +0900, Rosen Diankov wrote: >>>> hi guys, >>>> >>>> currently i'm using the videre_stereo_cam package by Antons to get >>>> stereo data. This publishes the image_raw and camera_info messages as >>>> expected, which is then fed into stereo_image_proc. >>>> >>>> stereo_image_proc itself publishes image_rect, image_color, >>>> image_mono, which I'm guessing undistort the raw images. However, a >>>> new camera_info isn't published that has CameraInfo.D set to all >>>> zeros. This confuses other nodes taking in the processed images and >>>> the camera_info, so is it possible to publish a new camera_info >>>> message to use for the output images? >>>> >>>> rosen, >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- MSc. Dejan Pangercic PhD Student/Researcher Computer Science IX Technische Universität München Telephone: +49 (89) 289-17780 E-Mail: dejan.pangercic@in.tum.de WWW: http://ias.cs.tum.edu/people/pangercic