R and K of camera parameter is zero

Issue #29 resolved
Ryohei Ueda
created an issue
$ rostopic echo /multisense/left/camera_info -n 1
header: 
  seq: 28297
  stamp: 
    secs: 1418992371
    nsecs: 622231000
  frame_id: /multisense/left_camera_optical_frame
height: 1024
width: 1024
distortion_model: ''
D: []
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [582.4236450195312, 0.0, 524.5, 0.0, 0.0, 582.4236450195312, 505.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

Comments (6)

  1. Matt Alvarado

    Hi Ryohei,

    The /multisense/left/camera_info corresponds to the left rectified image. Since the image is already rectified K, R, and D are not required. Camera info messages for undistorted images (/multisense/left/image_mono/camera_info, /multisense/left/image_color/camera_info, and /multisense/right/image_mono/camera_info) have the D, K, and R matrices populated.

    I believe this follows the Camera Info convention (http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html), but the documentation is not completely clear.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

  2. Matt Alvarado

    Hi Ryohei,

    It appears that you are correct. After looking at various image_proc nodes, the convention appears to be to include all the calibration matrices in camera_info messages. I will make this modification to the driver.

    How time critical is this for your development?

    Thanks, Matt Alvarado Engineer Carnegie Robotics

  3. Matt Alvarado

    Hi Ryohei,

    The latest version of the ROS driver, 3.4.1, now has the R, P, K, and D matrices populated for all camera info topics. Please let me know if you find an issue with the implementation.

    Thanks, Matt Alvarado Engineer Carnegie Robotics.

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