Comments (2)
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.
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thanks for your reply
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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?
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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.
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