## repository: ros-pkg <> == Overview == [[image_geometry]] contains Python and C++ libraries that simplifies interpreting images geometrically using the parameters from <>. 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 ( [[http://opencv.willowgarage.com/documentation/camera_calibration_and_3d_reconstruction.html|OpenCV functions for 3d reconstruction]]). Accessors to camera matrices in the format expected by OpenCV are provided for easy integration. == Tutorials == <> == C++ API == Please see the [[http://www.ros.org/doc/api/image_geometry/html/c++/|image_geometry C++ API]] documentation. == Python API == Please see the [[http://www.ros.org/doc/api/image_geometry/html/python/|image_geometry Python API]] documentation. ## AUTOGENERATED DON'T DELETE ## CategoryPackage ## CategoryPackageROSPKG