Rectified stereo images

[banafshebamdad]

Hi everyone,
I've recently recorded ROS bags using a RealSense D435i camera containing /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw. I'm wondering if these stereo frames are rectified.
Thanks,
Banafshe

[MartyG-RealSense]

Hi @banafshebamdad The Y8 infrared format is rectified. The Y16 infrared format is unrectified.

If you are recording using the RealSense ROS wrapper then the infrared frames will be Y8 rectified, as the option to use Y16 infrared is only supported in the librealsense SDK, in tools such as the RealSense Viewer.

[banafshebamdad]

Thanks a lot!