Different intrinsic matrix values for rectified left and right lens

[kushal2507]

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Package versions :

I am using the OAK-D-S2 ON Ubuntu 22.04, ROS2 Humble.

This is my camera.yaml file :

/oak: ros__parameters: camera: i_mx_id: '' i_usb_port_id: '' i_calibration_dump: false i_nn_type: none i_enable_imu: true i_pipeline_type: RGBD i_usb_speed: SUPER_PLUS i_restart_on_diagnostics_error: false imu: i_enable_rotation: true i_rot_freq: 200 rgb: i_fps: 12.0 i_resolution: 1080P i_set_isp_scale: false stereo: i_align_depth: true i_publish_right_rect: true i_publish_left_rect: true i_publish_synced_rect_pair: true i_publish_topic: true left: i_fps: 12.0 right: i_fps: 12.0

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I am using the camera.launch.py file as is from the github repo Link

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Upon echoing the left and right camera_info topics I noticed that the intrinsic matrix values are different for both lenses. Ideally, for rectified images shouldn't the values be the same? Attaching the outputs below.

Another issue is that on rviz the rectified images appear to have an irregular black border as seen below

Let me know if any additional information is needed

[Serafadam]

Hi, those values correspond to unrectified images (IIRC some libraries require this original information). Regarding black borders, this is expected due to rectification and the amount of distortion present in unrectified camera.

[kushal2507]

thanks for your reply

1) So just to clarify, in order for me to access the "rectified" intrinsic parameters for the left and right lens, I should refer to the projection matrix in the camera_info topic?

2) I am actually viewing the rectified camera streams in the images, so I would expect those to be free of distortion, right?

I am particularly interested in these 2 topics because I am using the rectified images and corresponding camera_info to calculate the depth/disparity myself.