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2014-06-21 05:36:54 -0600 | asked a question | Incorrect stereo camera calibration Hi, I'm trying to calibrate a stereo camera setup using OpenCV's standard The problem is that the stereo reconstruction using the results of the calibration gives huge distortions of the reconstructed scene. I think that this may be caused by wrong extrinsic parameters (relative rotation and translation of the cameras). Especially the translation look suspicious to me. As far as I understand, the length of the translation vector should be comparable to the distance between the cameras. However, the length of the 1) Checkerboard calibration pattern, square size 19x19 mm, 12x10 corners: a) Independent intrinsic calibration of the cameras with b) Independent intrinsic calibration of the cameras with 2) Asymmetric circle grid, 9x3 circles, grid size 30.2 x 30.2 mm - the same two options a and b, as in point 1. 3) One-step calibration using Have you got any experience with this problem? The detailed results of the calibration are attached in the PDF here. I also attach the original images I use, should someone want to check the calibration themselves. Update 2014-06-30: Matthieu, thank you for your response. Yes, I am pretty sure, that the corners on the checkerboard are correctly detected, because I do the detection semi-manually, using Bouguet's Camera Calibration Toolbox for Matlab (afterwards I import the extracted corner positions to my OpenCV calibration program). The corners are detected with sub-pixel accuracy. I repeated the whole calibration with a new checkerboard pattern, using 85 images of it. I also did the best I can to get rid of the blur. The results are not much better. The relative camera translation vector, which is a sanity check parameter for me, is now Is the distortion model of the calibration procedure incompatible with my camera setup? Or is it maybe the small base length, that makes the optimization algorithm get stuck on some local minimum? What do you think? PS. By the way, the results with the Camera Calibration Toolbox for Matlab are no better. |