This tool uses OpenCV's stereoRectify to rectify two images. That function expects a 3×3 rotation matrix \mathbf{R} and a translation vector \mathbf{T} such that the representation of a point p in the left camera frame p_l and right camera frame p_r are related by
p_r = \mathbf{R} \cdot p_l - \mathbf{T}
where \mathbf{R} = R_z(\psi) R_y(\theta) R_x(\phi)
: rotation matrix from the left to the right camera frame
and \mathbf{T} = [T_1,\; T_2,\; T_3]
: position of the right camera relative to the left camera, expressed in the right camera frame
Note that in both the left and right camera frames, the z-axis points forward, the x-axis points to the right, and the y-axis points down (refer to the 3D rendering).
⣿Extrinsics
Drop extrinsics.ini here
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