| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi,
How do the intrinsics and extrinsics change if we half the image i.e.
height_new = height/2 width_new = width/2
In the CameraInfo message, obviously the height and width change but how do you modify K D R and P?
Thank you
I think this shouldn't necessarily change the extrinsic parameters, since this parameters basically defines a transform between two "rigid" bodies(e.g you use this parameters to transform a LIDAR point to camera frame, all in 3D space). However this should change the intrinsic parameters. If you look at, what parameters are regraded as intrinsic ones; From wiki;
So from here one will expect the change in size of your image should effect principal point(u_0,v_0). Principal point would/should be multiplied by the factor you divide your image.
Asked: 2020-01-31 10:08:31 -0600
Seen: 527 times
Last updated: Mar 01 '20
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
This doesn't answer your question, but image_proc will do all of the operations for you with
crop_decimateorresizenodes or nodelets.