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Setting the cx and cy values manually to the real middle of the image size has helped me here.

Creating the Projection matrices like this helped me get a pretty good result.

 //LEFT
        float fx = camera_matrixL.at<float>(0, 0);
        float fy = camera_matrixL.at<float>(1, 1);

        //Set mid point to actual pixel center
        cv::Mat_<float> P_left(3, 4);
        P_left << fx, 0, 424, 0,
            0, fy, 400, 0,
            0, 0, 1, 0;

//RIGHT

                float fx = camera_matrixR.at<float>(0, 0);
        float fy = camera_matrixR.at<float>(1, 1);

        //P2 gets the baseline added
        cv::Mat_<float> P_right(3, 4);
        P_right << fx, 0, 424, T.at<float>(0, 0) * 10,
            0, fy, 400, 0,
            0, 0, 1, 0;