Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Rectification matrix clarification in stereo vision calibration

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

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

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.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-03-30 12:48:22 -0600

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

edit flag offensive delete link

Comments

Perfect! Thanks for the link

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. http://answers.ros.org/question/60177/cameracalibratorpy-crashes-during-calibration/ . Have you ever had this problem?

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

add a comment

Question Tools

Stats

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

Seen: 3,489 times

Last updated: Mar 30 '13

Rectification matrix clarification in stereo vision calibration edit

1 Answer

Comments

Question Tools

Stats

Related questions

Rectification matrix clarification in stereo vision calibration