Incorrect camera pose on using rectified image.

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Hi,

I am currently trying to find the pose of 2 cameras using an April Tag (of ID=2).

I am using rectifyImage() from ROS image_geometry for rectifying the images. However, I get very different results if I use the distorted compared to the rectified image.

Would anyone know what is the reason for getting such different results ? The images and the results are presented below.

Following are the images (in the given order) :

1. Original image
2. rectified image
3. Image containing projected axes of the April Tag onto the rectified image (x axis is shown in red, y-axis in green and z-axis in yellow)

^ In a similar way the axes are projected for the distorted image as well ... and they seem fine and align well with the April Tag.

Using distorted image: camera to April tag pose found:

-0.468764,-0.636629,0.612343,1.55544, -0.882811,0.314051,-0.349309,4.3993, 0.0300735,-0.704326,-0.709239,2.62817, 0,0,0,1;

Using Rectified image: camera to April tag pose found:

-0.372343,-0.769522,0.518841,1.67009, -0.913872,0.401489,-0.0603633,3.52723, -0.161858,-0.49663,-0.852737,3.62459, 0,0,0,1;