ROS2 消息格式 CameraInfo

文件：sensor_msgs/msg/CameraInfo.msg

消息定义

原始消息定义

# 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.


#

# Image acquisition info

#


# Time of image acquisition, camera coordinate frame ID

#std_msgs/Header header # 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



#

# Calibration Parameters

#

# These are fixed during camera calibration. Their values will be the

# same in all messages until the camera is recalibrated. Note that

# self-calibrating systems may "recalibrate" frequently.

#

# The internal parameters can be used to warp a raw (distorted) image

# to:

# 1. An undistorted image (requires D and K)

# 2. A rectified image (requires D, K, R)

# The projection matrix P projects 3D points into the rectified image.

#


# The image dimensions with which the camera was calibrated.

# Normally this will be the full camera resolution in pixels.

uint32 height
uint32 width

# The distortion model used. Supported models are listed in

# sensor_msgs/distortion_models.hpp. For most cameras, "plumb_bob" - a

# simple model of radial and tangential distortion - is sufficent.

string distortion_model

# The distortion parameters, size depending on the distortion model.

# For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).

float64[] d

# 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).

#float64[9] k # 3x3 row-major matrix


# 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.

#float64[9] r # 3x3 row-major matrix


# 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.

#float64[12] p # 3x4 row-major matrix



#

# Operational Parameters

#

# These define the image region actually captured by the camera

# driver. Although they affect the geometry of the output image, they

# may be changed freely without recalibrating the camera.

#


# 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).

uint32 binning_x
uint32 binning_y

# Region of interest (subwindow of full camera resolution), given in

# full resolution (unbinned) image coordinates. A particular ROI

# always denotes the same window of pixels on the camera sensor,

# regardless of binning settings.

# The default setting of roi (all values 0) is considered the same as

# full resolution (roi.width = width, roi.height = height).

RegionOfInterest roi

紧凑消息定义

std_msgs/msg/Header header
uint32 height
uint32 width
string distortion_model
double[] d
double[9] k
double[9] r
double[12] p
uint32 binning_x
uint32 binning_y
sensor_msgs/msg/RegionOfInterest roi