Author: User discussions Date: To: ros-users Subject: [ros-users] stereo_image_proc intrinsic camera matrix
Why does stereo_image_proc (in stereo_camera_model.cpp >
fromCameraInfo(...) ) assert that fx, fy, cx, and cy be exactly the
same?
I am using a Bumblebee2 camera. My goal is to run a Bumblebee2 node
that publishes left and right images and camera_info as required by
stereo_image_proc, so that stereo_image_proc will calculate the
disparity image.
Here's my setup:
- I have a Bumblebee2 node from which I publish
/BB2/left/image_raw
/BB2/right/image_raw
/BB2/left/camera_info
/BB2/right/camera_info
It also provides services:
/BB2/left/set_camera_info
/BB2/right/set_camera_info
The services let ROS camera_calibration upload its results to the
Bumblebee2 node.
- I run ROS's camera_calibration to create these camera info matrices:
- However, stereo_image_proc will not use camera matrices from right
and left that are not exactly the same. Does anyone have more insight
into this? Am I improperly using camera_calibration,
stereo_image_proc, or anything else?