Revision history [back]

This is probably solved, but as far as I am aware the calibration process actually estimates the base line and the toe-in angle indirectly as part of the extrinsic parameters. In the OpenCV calibration docs, you will find this quote:

The functions below use the above model to

• Project 3D points to the image plane given intrinsic and extrinsic parameters

• Compute extrinsic parameters given intrinsic parameters, a few 3D points and their projections.

• Estimate intrinsic and extrinsic camera parameters from several views of a known calibration pattern (i.e. every view is described by several 3D-2D point correspodences).

• Estimate the relative position and orientation of the stereo camera “heads” and compute the rectification transformation that makes the camera optical axes parallel.

So you would not have to explicitly specify the baseline in the CameraInfo messages, as they are already part of the projection matrix (usually P[3] in the right CameraInfo message)