Parameters for conversion of depth map to point cloud

Software ROS2
1

Hi!

I am using calibration parameters from ROS2 topics to convert depth maps to point clouds using instructions at https://support.stereolabs.com/hc/en-us/articles/4554115218711-How-can-I-convert-3D-world-coordinates-to-2D-image-coordinates-and-viceversa. Things seems to be working well but I have a bit of confusion regarding whether to use parameters from /left/camera_info or /left_raw/camera_info. Please let me know of the correct option.

Thanks!

2

Hi,

You need to use the calibration data of the rectified left image, which is /left/camera_info.

3

Hi,

I would like to have it confirmed once again since the parameters in the zed config file at /usr/local/zed/settings/ seem to match more closely with the left_raw parameters.

PS: I use the parameters from ROS2 topics instead of conf file since downscaling data through the pub_downscale factor changes the projection parameters from those in the conf file.

4

I confirm that you need to use the rectified parameters, not the one you can find in the calibration file (that are the raw parameters).

5

Thanks for your help!