Stereo Calibration Not Working

asked 2018-04-03 22:15:12 -0500

So here's the problem: This is what the rectified images look like:

Right: image description

Left: image description

The original Images looked like:

Right: image description

Left: image description

Our calibration images can be found in the calibration folder in this github repository: 3d_Camera

The calib.py is the script we're using to calibrate on the left and right images in those folders (it also needs to be run in that folder). We're using the calibration methods specified in Daniel Lee's StereoVision Library and our calibration reprojection error with those images 286, which is very far from where we need it to be. We've gotten calibration down to 12px error with other calibration images (even though it seemed they were worse calibration images), but the warping still happens in the same way on the rectified images.

Our hardware setup is two raspberry pi cameras that are mounted 12 cm away from each other and oriented to be on the same plane and oriented the same way. They take images at separate times, but it's within a quarter of a second.

We're really struggling to figure out what's going wrong with this.

Any help would be appreciated with fixing these rectified images.

Thanks so much!

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Comments

That's definitely because of bad calibration! Calibrate your stereo camera again!

Balaji R gravatar imageBalaji R ( 2018-04-04 01:27:02 -0500 )edit

Divide image in four square

1 put you grid in this four square = 4 images (grid must fill square) 2 put your grid wit an orientation different from 1 in this four squares 4 images 3 divide image in 9 square and repeat 1 and 2 Full process = 4+4+9+9 images for one camera

stereo calibration

repeat process using 1 and 2 for three distances 8 images per distance =24 images for stereo calibration

LBerger gravatar imageLBerger ( 2018-04-04 01:34:35 -0500 )edit

Please read this useful post! https://stackoverflow.com/questions/1...

Balaji R gravatar imageBalaji R ( 2018-04-04 02:07:21 -0500 )edit

I'll look into re-doing calibration with those things in mind. Can anyone diagnose what in particular is wrong with the calibration images that we have? and where all of that error would come from?

snosenzo gravatar imagesnosenzo ( 2018-04-04 10:04:09 -0500 )edit

without seeing your actual calibration images it is difficult to identify your problem!

Balaji R gravatar imageBalaji R ( 2018-04-05 00:33:28 -0500 )edit

It's in the github repository that's in the question: link text

snosenzo gravatar imagesnosenzo ( 2018-04-07 14:10:54 -0500 )edit