[ros-users] Digital Camera 1394 in ROS?

Jack O'Quin jack.oquin at gmail.com
Fri Mar 19 02:21:30 UTC 2010

On Thu, Mar 18, 2010 at 4:40 PM, Patrick Mihelich
<mihelich at willowgarage.com> wrote:
> On Wed, Mar 17, 2010 at 8:27 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:

>> Are there reasonable defaults to use when these data are not
>> available?
> You should leave the calibration matrices as all zeros, which is what the
> CameraInfo constructor sets them to. image_proc and stereo_image_proc
> understand that to mean that the camera is uncalibrated. In that case they
> will only publish on the debayered image_mono and image_color topics; all
> the other topics (rectified images, stereo outputs) require a calibrated
> camera.

OK, thanks.

>> It would be useful to display the images in rviz (which
>> actually does display, but with an error and with the camera window
>> covering the upper left of the rviz window).
> I think rviz is correct to complain, as its image viewer wants to display
> the image in the context of whatever else rviz knows about the environment.
> That requires knowing the frame and calibration of the camera. Probably
> rviz's behavior and error message could be improved for this case though.

Posting an "error: NaN in Projection matrix" is not very
user-friendly. Posting a "warning: this camera is not calibrated" and
then displaying the image somewhere in the viewing field would be much

> image_view doesn't care about the camera info.

And that works fine.

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