Stereocalibration coordinate origin question

asked 2013-10-16 15:20:21 -0600

pziyang
16 ●6

Hi,

I have a question about the origin of the stereocalibration. I have a pair of cameras calibrated using cv::stereocalibrate. I wish to recover 3D physical coordinates of specific points in the image using cv::triangulatepoints.

The question is where is the origin and the axis orientation of the recovered (X,Y,Z) physical coordiantes? I didn't find information in opencv documentation.

In "Learning OpenCV: Computer Vision with the Opencv" by Gary Bradski, Adrian Kaehler, the authors defined the origin to be center of projection of the left camera, with X positive towards right camera, Y downwards and Z away from camera. Is this right?

answered 2013-10-17 06:29:49 -0600

StevenPuttemans

20029 ●16 ●82 ●207 http://stevenputtemans...

In "Learning OpenCV: Computer Vision with the Opencv" by Gary Bradski, Adrian Kaehler, the authors defined the origin to be center of projection of the left camera, with X positive towards right camera, Y downwards and Z away from camera. Is this right?

Yes this is true and it is also the general rule of applying stereo calibration. Take a look at the following image, which specifies a universal set of parameters that everyone uses for calibration.

image description

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What about a top/bottom stereo-calibration?

pziyang ( 2014-03-10 15:46:15 -0600 )edit

I am not aware of top/bottom calibration ... could you direct me to some explanation of what it would do differently from a typical stereo calibration?

StevenPuttemans ( 2014-03-12 05:37:55 -0600 )edit

never mind, I found the answer in the documentation under cv::stereorectify. Thanks!

pziyang ( 2014-03-19 20:41:47 -0600 )edit

What if the plane is perpendicular on the images planes(in real life)?How do i find a connection?I mean how can i translate the camera coordinate system into a new point ?

Ciobotaru Costel ( 2015-06-24 08:11:02 -0600 )edit

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