Rectification

The model of a rectified camera is described with just one value, which is the focal length. The rc_reason_stack reports a focal length factor via its various interfaces. It relates to the image width for supporting different image resolutions. The focal length \(f\) in pixels can be easily obtained by multiplying the focal length factor by the image width in pixels.

Note

If a zivid or orbbec camera is used instead of a stereo camera, only one camera image is provided. However, the image is rectified, i.e. lens distortion is removed and the principal point is in the image center.