image_geometry Documentation


`image_geometry` contains C++ and Python libraries for interpreting images geometrically. It interfaces the calibration parameters in sensor_msgs/CameraInfo messages with OpenCV functions such as image rectification, much as cv_bridge interfaces ROS sensor_msgs/Image with OpenCV data types.

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  • image_geometry contains camera model classes that simplify interpreting images geometrically using the calibration parameters from sensor_msgs/CameraInfo messages. They may be efficiently updated in your image callback:

    image_geometry::PinholeCameraModel model_;
    void imageCb(const sensor_msgs::ImageConstPtr& raw_image,
                 const sensor_msgs::CameraInfoConstPtr& cam_info)
      // Update the camera model (usually a no-op)
      // Do processing...

    Code API

    image_geometry contains two classes:

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    Author(s): Patrick Mihelich
    autogenerated on Fri Jan 11 09:59:21 2013