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.

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...


image_geometry contains two classes:

Author(s): Patrick Mihelich
autogenerated on Thu Jun 6 2019 21:23:35