[ros-users] camera_info message and stereo_image_proc

Rosen Diankov rosen.diankov at gmail.com
Tue Apr 13 16:27:24 UTC 2010

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

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?


2010/4/14 Blaise Gassend <blaise at willowgarage.com>:
> 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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