Hello !
I'm looking at the file calib.json created when I recorded frames with stereo cameras. In the calibration, i'm confusing about the baseline of stereo camera. The cameraData in the calibration file is below.
I believe that the first 2 cameras are stereo cameras. When I look at the extrinsic of these 2 cameras, I have:
translation = 3.6339592933654785 for the 1st camera and translation=-7.459366321563721 for the 2nd camera. It means that the baseline of stereo camera is about 11cm which is not what you stated (7.5cm) in the camera documentation here .
"cameraData": [
[
2,
{
"cameraType": 0,
"distortionCoeff": [
-4.026230335235596,
0.1840355396270752,
-0.002873856807127595,
0.0016747524496167898,
45.5887336730957,
-4.025686740875244,
0.17398102581501007,
45.52424240112305,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9999908208847046,
0.004288002382963896,
-0.00014115366502664983
],
[
-0.004288680851459503,
0.999977171421051,
-0.005220828577876091
],
[
0.00011876351345563307,
0.005221385974436998,
0.9999863505363464
]
],
"specTranslation": {
"x": 3.75,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": 3.6339592933654785,
"y": -0.009591661393642426,
"z": -0.004193586762994528
}
},
"height": 480,
"intrinsicMatrix": [
[
453.42791748046875,
0.0,
305.33612060546875
],
[
0.0,
453.42791748046875,
242.4577178955078
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 72.9000015258789,
"width": 640
}
],
[
1,
{
"cameraType": 0,
"distortionCoeff": [
-6.71436882019043,
84.24278259277344,
-0.00036940438440069556,
0.0008059097453951836,
-118.6076889038086,
-6.681336402893066,
84.14616394042969,
-118.51358795166016,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9998267292976379,
-0.0017055005300790071,
-0.01853567361831665
],
[
0.0017498093657195568,
0.9999956488609314,
0.0023745065554976463
],
[
0.018531542271375656,
-0.0024065289180725813,
0.9998253583908081
]
],
"specTranslation": {
"x": -7.5,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.459366321563721,
"y": -0.04788130894303322,
"z": -0.13062356412410736
}
},
"height": 480,
"intrinsicMatrix": [
[
455.1717224121094,
0.0,
305.75689697265625
],
[
0.0,
455.1717224121094,
232.0742645263672
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 72.9000015258789,
"width": 640
}
],
[
0,
{
"cameraType": 0,
"distortionCoeff": [
-0.8858298063278198,
-0.7882803082466125,
-0.0016143274260684848,
-0.0019167952705174685,
30.069868087768555,
-1.0199025869369507,
-0.5080228447914124,
29.434795379638672,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"height": 2160,
"intrinsicMatrix": [
[
2968.8076171875,
0.0,
1872.032958984375
],
[
0.0,
2968.8076171875,
1102.5250244140625
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 68.7938003540039,
"width": 3840
}
]
],