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Short answer: I don't think so.

Long answer: This is a really hard problem. In a calibrated stereo system, lookup tables are generated that undistort and rectify pixels very fast. If you want to allow changing angles you would have to produce these maps for every possible angle. If you want to support a specific set of angles you could do a seperate calibration for each of these and switch between them when the cameras move. In that case your system would need a very precise repeatability.

You could also try to setup a self-calibrating system which needs either information about the environment or some movement of the cameras.

Anyways, I am not aware of any package in ROS that supports anything of the aforementioned.