From 0c16fdd14d4e267fb22e3e38c556c1f077ff4440 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 24 Jul 2020 12:42:20 +0300
Subject: [PATCH] correct rectification parameter calculation
---
.../rgbd-sources/src/sources/stereovideo/rectification.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
index b9f0b1a36..a9395664c 100644
--- a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
@@ -91,9 +91,9 @@ void StereoRectification::calculateParameters() {
// calculate rotation and translation from left to right using calibration
cv::Mat T_l = calib_left_.extrinsic.matrix();
cv::Mat T_r = calib_right_.extrinsic.matrix();
- cv::Mat T = T_r * T_l;
- cv::Mat R;
- cv::Mat t;
+ cv::Mat T = T_l * transform::inverse(T_r);
+ cv::Mat R, t;
+
transform::getRotationAndTranslation(T, R, t);
baseline_ = cv::norm(t);
--
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