Extend 3Dcamera CameraInfo with rectification matrix

AcutronicRobotics / HRIM

An information model for robot hardware. Facilitates interoperability across modules from different robot manufacturers. Built around ROS 2.0

https://acutronicrobotics.com/technology/hrim/

Apache License 2.0

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Closed ibaiape closed 5 years ago

ibaiape commented 5 years ago

Value used by stereo cameras. As per the explanation in sensor_msgs/CameraInfo itself:

A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.