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1 | initial version |
I was doing a little bit research about this, and I could answer the question by myself. I just check the stereoRectify function implementation in OpenCV (this function is used to perform the rectification process in ROS).
I do the following to obtain them (python code):
// get un-rectified rotation matrix R_unrectified = R_left_rectified.dot(inv(R_right_rectified))
// get un-rectified translation vector fx = P_right_rectified[0][0] t_rectified = np.array(P_right_rectified[:,3]) / fx t_unrectified = inv(R_right_rectified).dot(t_rectified)
2 | No.2 Revision |
I was doing a little bit research about this, and I could answer the question by myself. I just check the stereoRectify function implementation in OpenCV (this function is used to perform the rectification process in ROS).
I do the following to obtain them (python code):
// get un-rectified rotation matrix
matrix
R_unrectified = R_left_rectified.dot(inv(R_right_rectified))
// get un-rectified translation vector
vector
fx = P_right_rectified[0][0]
P_right_rectified[0][0]
t_rectified = np.array(P_right_rectified[:,3]) / fx
fx
t_unrectified = inv(R_right_rectified).dot(t_rectified)