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Rectification matrix clarification in stereo vision calibration

asked 2013-03-30 12:28:12 -0600

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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 -0600

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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:

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Perfect! Thanks for the link

mortonjt gravatar image mortonjt  ( 2013-04-01 05:59:36 -0600 )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. . Have you ever had this problem?

mortonjt gravatar image mortonjt  ( 2013-04-08 02:54:28 -0600 )edit

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Asked: 2013-03-30 12:28:12 -0600

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Last updated: Mar 30 '13