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,
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