Or, if you do want to change the scaling post-calibration, you can change the P matrix in the camera_info by scaling the P(0,0), P(0,3), P(1,1) entries. You can find the value to scale by with a little trial and error. On Thu, Apr 8, 2010 at 12:32 PM, James Bowman wrote: > Hi Dave, > > you can actually use the slider in the cameracalibration app to do this > border operation for you. Tutorial: > > http://www.ros.org/wiki/camera_calibration/Tutorials/MonocularCalibration > > I've just added a paragraph (copied from the corresponding > StereoCalibration tutorial) to make this clearer: > > After a successful calibration, you can use the slider at the top of the > calibration window to change the size of the rectified image. A scale of 0.0 > means that the image is sized so that all pixels in the rectified image are > valid. The rectified image has no border, but some pixels from the original > image are discarded. A scale of 1.0 means that all pixels in the original > image are visible, but the rectified image has black borders where there are > no input pixels in the original image. > > On Wed, Apr 7, 2010 at 3:51 PM, David Feil-Seifer < > david.feilseifer@gmail.com> wrote: > >> I am trying to use image_proc to rectify an image which is just a >> camera image that has a border added around. The purpose is to make a >> rectified image that includes all of the image (including what does >> not strictly fit into a square), not just the centermost part. To do >> this I made a new node image_letterboxer (included source) to add the >> border and to adjust the camera calibration cx and cy params to >> reflect the new center of the image. This has worked when not using >> image_proc to do the undistort. >> >> However, when I try to use this node with image_proc, it does not work >> at all. I dug a little into the source and found that the image >> transport is subscribing to the new image topics correctly, and that >> image transport is registering that subscription, but no callbacks are >> being called. My image_letterboxer node works well enough so that >> image_view can display the new image_raw topic with the letterboxed >> image, but image_proc does not work, though it does work on the camera >> itself. >> >> I assume that the problem is in the image_letterboxer node, but I >> cannot figure out what I did wrong. Is there some flaw in the way that >> I'm using image_transport to publish the images? Or is there something >> wrong with image_proc? >> >> Thanks in advance, >> -Dave >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > > -- > J. > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >