Hello,
I have the following stereo calibration data, which is provided from a file:
Left camera:
K1 = [500.68330 0 318.57250
0 500.25257 247.11452
0 0 1]
D1 = [ -0.22225 0.10381 0.0000 0 ] --> Distortion parameters
R1 = [ 1 0 0
0 1 0
0 0 1]
T1 = [ 0 0 0 ]
Right camera:
K2 = [ 500.80696 0 307.20573
0 500.39406 233.52064
0 0 1]
D2 = [ -0.22738 0.11823 0 0 ]
R2 = [ 0.994584465424537 0.008137584213299 0.103612358622704
-0.008733820371460 0.999947802720680 0.005302095416238
-0.103563804091524 -0.006178313463662 0.994603623020164]
T2 = [ -399.96195 -22.45476 0.66913 ]
I use the following code in order the get the P1 and P2 matrices:
cv.StereoRectify(K1, K2, D1, D2, (height, width), R2, T2, R1, R2, P1, P2, np.zeros((4, 4), float)), 0)
The obtained output is the following, but when I apply this calibration I can observe it is not good:
R1 [[ 0.99270276 0.06418606 0.10208517]
[-0.06433084 0.99792686 -0.00187686]
[-0.10199401 -0.00470406 0.99477389]]
R2 [[ 0.99842635 0.05605389 -0.00167035]
[-0.0560562 0.99842668 -0.00136989]
[ 0.00159094 0.00146137 0.99999767]]
P1 [[ 427.68975971 0. 255.76326752 0. ]
[ 0. 427.68975971 237.85540771 0. ]
[ 0. 0. 1. 0. ]]
P2 [[ 4.27689760e+02 0.00000000e+00 3.00858452e+02 -1.71329243e+05]
[ 0.00000000e+00 4.27689760e+02 2.37855408e+02 0.00000000e+00]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 0.00000000e+00]]
Can anyone notice what am I doing wrong? Thanks in advance.