Stereo Image Rectification
The stereo image sequences provided on the downloads page are the image files as captured by the camera, hence they contain lens distortion and are unrectified. This makes them unsuitable for direct use in, for example, local window-based stereo matching.
We provide two rectification solutions. Firstly we provide cross-platform, standalone C++ code, which will perform the rectification and undistortion. Secondly, we provide the Bumblebee calibration file, for use with the PTGrey Triclops/Digiclops software (note that this is non-free software).
Cross-platform code for undistortion and rectification
Source code, compilation and usage instructions can be found here: RectifyStereoImageSequence
PTGrey Bumblebee calibration file
For use with the PTGrey Triclops/Digiclops software libraries: Bumblebee-8090375-PTGrey-Calibration.cal