stereo_calibration - rotation and translation matrix from output?!
I did a stereo calibration of two rgb-cameras with the camera_calibration package.
$ rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw right_camera:=/my_stereo/right left_camera:=/my_stereo/left
I am actually interested in the Rotation and Translation between the two camera frames. But I do not understand how to get this information from the output I got:
[image]
width
640
height
480
[narrow_stereo/left]
camera matrix
648.128948 0.000000 310.456734
0.000000 645.852354 239.382301
0.000000 0.000000 1.000000
distortion
-0.004746 0.045946 -0.002314 -0.002279 0.000000
rectification
0.999426 0.029044 0.017429
-0.028984 0.467011 0.883776
0.017528 -0.883774 0.467585
projection
3533.740115 0.000000 378.726444 0.000000
0.000000 3533.740115 -2855.120445 0.000000
0.000000 0.000000 1.000000 0.000000
# oST version 5.0 parameters
[image]
width
640
height
480
[narrow_stereo/right]
camera matrix
541.784078 0.000000 311.829932
0.000000 540.030207 240.621846
0.000000 0.000000 1.000000
distortion
0.047129 -0.150119 -0.000644 -0.002149 0.000000
rectification
0.997956 0.054935 0.032662
-0.054994 0.477731 0.876783
0.032563 -0.876787 0.479775
projection
3533.740115 0.000000 378.726444 0.000000
0.000000 3533.740115 -2855.120445 305.406125
0.000000 0.000000 1.000000 0.000000
Left:
('D = ', [-0.004745505276970892, 0.04594649780065838, -0.0023144618343065573, -0.0022789476229827144, 0.0])
('K = ', [648.1289483347696, 0.0, 310.4567342485528, 0.0, 645.8523544134756, 239.38230099187072, 0.0, 0.0, 1.0])
('R = ', [0.9994261827735477, 0.029043505832408213, 0.01742928442759996, -0.02898385832798141, 0.4670110286018882, 0.8837763490389581, 0.017528295499529056, -0.8837743908561558, 0.4675848424871277])
('P = ', [3533.74011530084, 0.0, 378.72644424438477, 0.0, 0.0, 3533.74011530084, -2855.120445251465, 0.0, 0.0, 0.0, 1.0, 0.0])
Right:
('D = ', [0.04712904679290734, -0.15011876036543534, -0.0006437146133086122, -0.0021494622132509017, 0.0])
('K = ', [541.7840777852443, 0.0, 311.82993239170753, 0.0, 540.030207287234, 240.621846446304, 0.0, 0.0, 1.0])
('R = ', [0.9979555802017678, 0.05493504956821761, 0.032661908595344215, -0.05499401026517345, 0.4777307594543458, 0.8767833143406234, 0.03256253643540602, -0.8767870105105982, 0.47977517591136526])
('P = ', [3533.74011530084, 0.0, 378.72644424438477, 0.0, 0.0, 3533.74011530084, -2855.120445251465, 305.4061245407626, 0.0, 0.0, 1.0, 0.0])
('self.T', [-0.00475289834567013, 0.041288237125056894, 0.07577665175074097])
('self.R', [0.9995476404618809, -0.02547661638974252, -0.015983005487590064, 0.0256884644291203, 0.9995829459246669, 0.013192308813783209, 0.01564024431907163, -0.01359692001499986, 0.999785230198839])
[image]
width
640
height
480
[narrow_stereo/left]
camera matrix
648.128948 0.000000 310.456734
0.000000 645.852354 239.382301
0.000000 0.000000 1.000000
distortion
-0.004746 0.045946 -0.002314 -0.002279 0.000000
rectification
0.999426 0.029044 0.017429
-0.028984 0.467011 0.883776
0.017528 -0.883774 0.467585
projection
3533.740115 0.000000 378.726444 0.000000
0.000000 3533.740115 -2855.120445 0.000000
0.000000 0.000000 1.000000 0.000000
# oST version 5.0 parameters
[image]
width ...
Hi my friend, I have the same question recently. I noticed that you asked this question 3 years ago, so I wonder if you can tell me about how you solved this question? Thanks a lot !
Same here. If either of you have found out how to get that information, please let me know