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Rectification matrix clarification in stereo vision calibration

asked 2013-03-30 12:28:12 -0500

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I have a Point Grey Bumblebee2 that I am trying to integrate into ROS and I am using the camera1394stereo node to read raw images from both cameras.

I have calibrated both cameras by hand and am currently trying to figure out how to configure the yaml files as specified in the StereoCalibration tutorial

So far, I have successfully undistorted the images. However, I am very unclear about what values I should put down in the rectification matrix. What is contained in this matrix? Is it a rotation matrix of the two cameras orientations with respect to each other?

I have been trying to insert rotations matrices into these values, only to encounter segfaults. Any help would be greatly appreciated.

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answered 2013-03-30 12:48:22 -0500

This post is a wiki. Anyone with karma >75 is welcome to improve it.

From the CameraInfo message declaration:

Rectification matrix (stereo cameras only) A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.

Alternatively, ROS has a tool built in to do stereo calibration and write it out in the correct format: http://www.ros.org/wiki/camera_calibration/Tutorials/StereoCalibration

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Perfect! Thanks for the link

mortonjt ( 2013-04-01 05:59:36 -0500 )edit

Actually the reason why I tried to calibrate the cameras by hand is because I've had so much trouble using the built in ROS stereo calibration software. http://answers.ros.org/question/60177/cameracalibratorpy-crashes-during-calibration/ . Have you ever had this problem?

mortonjt ( 2013-04-08 02:54:28 -0500 )edit

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Asked: 2013-03-30 12:28:12 -0500

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Last updated: Mar 30 '13

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Rectification matrix clarification in stereo vision calibration