How is rectification and projection matrix calculated to work with ROS?

[sharminrahman]

Hi,

I would like to know how did you get the rectification and projection matrix for the two cameras of the example bag file (in the files okvis_calibration_cam0.yaml and okvis_calibration_cam1.yaml). I tried the usual way to get them with OpenCV, giving as input the intrinsics and the extrinsics (derivated by making proper transformation to get cam1 in cam0 reference frame, starting from the transformation wrt IMU available in the okvis config file) to the related function (stereoRectify), but the result is different from the one in the file.

Thanks a lot