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image_geometry contains Python and C++ libraries that simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo. Although CameraInfo contains all the information required to rectify a raw image and project points onto it, it is highly recommended that you use this library, since performing these operations correctly over the space of all camera options can be non-trivial.

The camera parameters in CameraInfo are for a full-resolution image; region-of-interest alone significantly complicates the creation of rectification maps and requires adjusting the projection matrix. Adding options such as subsampling (binning) to CameraInfo would further complicate the correct interpretation of the corresponding Images. Using image_geometry simplifies and future-proofs imaging code.

The image_geometry classes are written to be used in an Image/CameraInfo message callback similar to cv_bridge.

In order to maintain invariance, the CameraModel classes offer read-only access to specific parameters and matrices. Setting a CameraModel can only be performed with full information using the fromCameraInfo() functions.

These classes use the OpenCV camera model ( OpenCV functions for 3d reconstruction). Accessors to camera matrices in the format expected by OpenCV are provided for easy integration.


  1. Projecting a TF frame onto an image (C++)

    This tutorial shows how to use image_geometry together with tf to project a tf frame onto a live image stream.


Please see the image_geometry C++ API documentation.

Python API

Please see the image_geometry Python API documentation.

2024-07-20 13:21