[ros-users] problems with image_proc using a modified camera

Kurt Konolige konolige at willowgarage.com
Thu Apr 8 00:43:00 UTC 2010

David, the facility to adjust the rectified image to contain all the
original image (with possible blank parts), or to contain the largest
inscribable rectangle, or something in between, is already present in
the calibration routines for stereo.  It doesn't look like this has
been added to the monocular calibration routines, but it should be.

If you're going to modify the frames post-calibration (e.g., you
calibrated and created one type of image, but want another) , I'd
suggest modifying the focal length parameter, which will scale the
rectified image.  Caroline Pantofaru has done this on some bag files,
and can give you the details.

Cheers --Kurt

On Wed, Apr 7, 2010 at 3:51 PM, David Feil-Seifer
<david.feilseifer at 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
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