Class CameraInfoMessage

This message defines meta information for a camera. It should be in a camera namespace on topic "camera_info" and accompanied by up to five image topics named:

image_raw - raw data from the camera driver, possibly Bayer encoded image - monochrome, distorted image_color - color, distorted image_rect - monochrome, rectified image_rect_color - color, rectified

The image_pipeline contains packages (image_proc, stereo_image_proc) for producing the four processed image topics from image_raw and camera_info. The meaning of the camera parameters are described in detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.

The image_geometry package provides a user-friendly interface to common operations using this meta information. If you want to, e.g., project a 3d point into image coordinates, we strongly recommend using image_geometry.

/// If the camera is uncalibrated, the matrices D, K, R, P should be left zeroed out. In particular, clients may assume that K[0] == 0.0 indicates an uncalibrated camera. http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html

Inheritance

System.Object

CameraInfoMessage

Implements

ZOROSMessageInterface

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: ZO.ROS.MessageTypes.Sensor

Assembly: Unity.ZeroSim.dll

Syntax

public class CameraInfoMessage : ZOROSMessageInterface

Constructors

CameraInfoMessage()

Declaration

public CameraInfoMessage()

CameraInfoMessage(HeaderMessage, UInt32, UInt32, String, Double[], Double[], Double[], Double[], UInt32, UInt32, RegionOfInterestMessage)

Declaration

public CameraInfoMessage(HeaderMessage header, uint height, uint width, string distortion_model, double[] D, double[] K, double[] R, double[] P, uint binning_x, uint binning_y, RegionOfInterestMessage roi)

Parameters

Type	Name	Description
HeaderMessage	header
System.UInt32	height
System.UInt32	width
System.String	distortion_model
System.Double[]	D
System.Double[]	K
System.Double[]	R
System.Double[]	P
System.UInt32	binning_x
System.UInt32	binning_y
RegionOfInterestMessage	roi

Properties

binning_x

Binning refers here to any camera setting which combines rectangular neighborhoods of pixels into larger "super-pixels." It reduces the resolution of the output image to (width / binning_x) x (height / binning_y). The default values binning_x = binning_y = 0 is considered the same as binning_x = binning_y = 1 (no subsampling).

Declaration

public uint binning_x { get; set; }

Property Value

Type	Description
System.UInt32

binning_y

Declaration

public uint binning_y { get; set; }

Property Value

Type	Description
System.UInt32

D

The distortion parameters, size depending on the distortion model. For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).

Declaration

public double[] D { get; set; }

Property Value

Type	Description
System.Double[]

distortion_model

The distortion model used. Supported models are listed in sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a simple model of radial and tangential distortion - is sufficient.

Declaration

public string distortion_model { get; set; }

Property Value

Type	Description
System.String

header

Time of image acquisition, camera coordinate frame ID Header timestamp should be acquisition time of image Header frame_id should be optical frame of camera origin of frame should be optical center of camera +x should point to the right in the image +y should point down in the image +z should point into the plane of the image

Declaration

public HeaderMessage header { get; set; }

Property Value

Type	Description
HeaderMessage

height

The image dimensions with which the camera was calibrated. Normally this will be the full camera resolution in pixels.

Declaration

public uint height { get; set; }

Property Value

Type	Description
System.UInt32

K

Intrinsic camera matrix for the raw (distorted) images. [fx 0 cx] K = [ 0 fy cy] [ 0 0 1] Projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx, fy) and principal point (cx, cy).

Declaration

public double[] K { get; set; }

Property Value

Type	Description
System.Double[]

MessageType

Declaration

[JsonIgnore]
public string MessageType { get; }

Property Value

Type	Description
System.String

P

Projection/camera matrix [fx' 0 cx' Tx] P = [ 0 fy' cy' Ty] [ 0 0 1 0] By convention, this matrix specifies the intrinsic (camera) matrix of the processed (rectified) image. That is, the left 3x3 portion is the normal camera intrinsic matrix for the rectified image. It projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx', fy') and principal point (cx', cy') - these may differ from the values in K. For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will also have R = the identity and P[1:3,1:3] = K. For a stereo pair, the fourth column [Tx Ty 0]' is related to the position of the optical center of the second camera in the first camera's frame. We assume Tz = 0 so both cameras are in the same stereo image plane. The first camera always has Tx = Ty = 0. For the right (second) camera of a horizontal stereo pair, Ty = 0 and Tx = -fx' * B, where B is the baseline between the cameras. Given a 3D point [X Y Z]', the projection (x, y) of the point onto the rectified image is given by: [u v w]' = P * [X Y Z 1]' x = u / w y = v / w This holds for both images of a stereo pair.

3x4 row-major matrix

Declaration

public double[] P { get; set; }

Property Value

Type	Description
System.Double[]

R

Rectification matrix (stereo cameras only) A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.

Declaration

public double[] R { get; set; }

Property Value

Type	Description
System.Double[]

roi

Declaration

public RegionOfInterestMessage roi { get; set; }

Property Value

Type	Description
RegionOfInterestMessage

Type

Declaration

[JsonIgnore]
public static string Type { get; }

Property Value

Type	Description
System.String

width

Declaration

public uint width { get; set; }

Property Value

Type	Description
System.UInt32

Methods

BuildCameraInfo(UInt32, UInt32, Double)

Declaration

public void BuildCameraInfo(uint width, uint height, double fovRadians)

Parameters

Type	Name	Description
System.UInt32	width
System.UInt32	height
System.Double	fovRadians

BuildCameraInfo(UInt32, UInt32, Double, Double, Double)

Builds up the camera info given width, height, focal length and sensor size

Declaration

public void BuildCameraInfo(uint width, uint height, double focalLengthMM, double sensorSizeXMM, double sensorSizeYMM)

Parameters

Type	Name	Description
System.UInt32	width	Width of camera in pixels.
System.UInt32	height	Height of camera in pixels.
System.Double	focalLengthMM	Focal length in millimeters.
System.Double	sensorSizeXMM	Sensor width in millimeters.
System.Double	sensorSizeYMM	Sensor height in millimeters.

Update()

Declaration

public void Update()

Implements

ZOROSMessageInterface