Hi There,
I'm in the process of registering a camera image from a GoPro to a mesh generated from a lidar scanner. For this I need to transform a 3D point in the camera frame to a 2D pixel point in the image. I've found the calibration data for the camera using the camera_calibration package and I've found this page:
http://wiki.ros.org/image_pipeline/CameraInfo Which describes the transformations I'm looking for, however I don't understand the notation used in section 3 to describe the actual vector operations to achieve the transformation I need.
Is there a package which encapsulates this transformation? Or can someone explain what:
X' = [R,t]X transform
sx = X' projection
x* = d(x) distortion
q = Kx* pixel coordinates
means in terms of vector operations.
Thanks, Pete
Originally posted by PeteBlackerThe3rd on ROS Answers with karma: 9529 on 2015-12-18
Post score: 0
Original comments
Comment by dornhege on 2015-12-18:
I'm pretty sure there is a package, but I can't come up with the name right now.
Comment by NEngelhard on 2015-12-18:
You probably should also take into account that several 3d points will be projected onto the same pixel. As your camera and the lidar do not have the same position, you will have only project visible points into the camera and not the points that are occluded by other 3d objects.
Comment by PeteBlackerThe3rd on 2015-12-18:
There's the image_proc package, but that only seems to produce a rectilinear image from the distorted wide angle image. I need a function to transform 3D points directly, I may have to dig into the source files for this.