Hi, I have a calibrated stereo camera with ROS package camera_calibration, and I would like convert images to point cloud.
I'm going to do this with opencv, with the function reprojectImageTo3D, but I need the Q matrix.
I found another function to calculate the Q matrix but I don't know some parameters:
My calibration data:
Right camera:
image_width: 640
image_height: 480
camera_name: 00b09d0100a8cd50
camera_matrix:
rows: 3
cols: 3
data: [618.406355982753, 0, 328.938909311292, 0, 622.618018605044, 192.823847411511, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.46935852500581, 0.495020825022316, 0.0069132704108347, 0.000957659601339344, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.987794979792204, 0.000360084570829607, -0.15575926372586, -0.00147162495744743, 0.999974269489065, -0.00702101700582399, 0.155752727800526, 0.00716454457124124, 0.987770093232116]
projection_matrix:
rows: 3
cols: 4
data: [2536.3424975867, 0, 419.49533700943, 112.802583009304, 0, 2536.3424975867, 207.939946174622, 0, 0, 0, 1, 0]
Left camera:
image_width: 640
image_height: 480
camera_name: 00b09d01009b8da3
camera_matrix:
rows: 3
cols: 3
data: [1303.84092827502, 0, 305.740018425863, 0, 1314.11682894773, 177.738196152231, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.151635456291086, 0.3629641480367, -0.00784184518383463, -0.000413869770118943, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.98618892981478, -0.00296598739861576, -0.165597698140795, 0.0041481493735406, 0.999968321024829, 0.006793364671487, 0.165572303141417, -0.0073864650230178, 0.986169991718928]
projection_matrix:
rows: 3
cols: 4
data: [2536.3424975867, 0, 419.49533700943, 0, 0, 2536.3424975867, 207.939946174622, 0, 0, 0, 1, 0]
How I obtain the R and T?
stereoRectify(InputArray cameraMatrix1, => camera_matrix_left
InputArray distCoeffs1, => distortion_coefficients_left
InputArray cameraMatrix2, => camera_matrix_right
InputArray distCoeffs2, => distortion_coefficients_right
Size imageSize, => size of the images
InputArray R, => ??????
InputArray T => ??????
OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q)