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Hi everybody, I'd like to understand if it's mandatory to rectify and crop images before process them with viso2_ros mono_odometry. I mean: does this latest library compute monocular odometry receiving unrectified images?


Originally posted by aldo85ita on ROS Answers with karma: 252 on 2012-10-16

Post score: 1

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2 Answers 2

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Yes, it is mandatory to rectify the images before feeding them to viso2_ros. And no, the library does not compute odometry using unrectified images. To produce rectified images you can use the package image_proc. Your camera driver should publish sensor_msgs/Image together with sensor_msgs/CameraInfo containing the calibration. image_proc then creates the rectified image for you which you can feed into viso2_ros.

A sample launch file would look like this:

<!-- example launch file for mono_odometer -->
<launch>
  <arg name="camera"/> <!-- camera must be set at launch -->
  <node name="image_proc" pkg="image_proc" type="image_proc" ns="$(arg camera)"/>
  <node name="mono_odometer" pkg="viso2_ros" type="mono_odometer" output="screen">
    <remap from="image" to="$(arg camera)/image_rect" />
    <param name="camera_height" value="0.5" /> <!-- cam is 0.5m above ground -->
    <param name="camera_pitch" value="0.0" /> <!-- cam is looking straight forward -->
  </node>
</launch>

Originally posted by Stephan with karma: 1924 on 2012-10-16

This answer was ACCEPTED on the original site

Post score: 1

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From the documentation, it appears the answer is "yes":

image (sensor_msgs/Image) The rectified input image. There must be a corresponding camera_info topic as well. Internally, image_transport::CameraSubscriber is used to synchronize between both.

from MonoOdometer subcribed topics.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2012-10-16

This answer was NOT ACCEPTED on the original site

Post score: 2

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