Meaning of perspective transformation matrix (Q) values

asked 2014-08-03 13:23:53 -0500

Kozuch gravatar image

updated 2014-08-03 13:46:54 -0500

I did stereo camera calibration with stereo_calib.cpp sample and got the intrinsics.yml and extrinsics.yml files which contain also the Q matrix. That is the meaning of its values? This answer shows following items in the matrix: Cx, Cy, f, a and b. I guess the f is focal length but I am not sure on the other values.

Also, I need following data for my further coding:

  • focal length in pixels
  • principal point (u-coordinate) in pixels
  • principal point (v-coordinate) in pixels
  • baseline in meters

These are the parameters needed for libviso2 visual odometry.

Thanks for help in advance!

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