stereo calibrate using pre-defined intrinsics
I have a stereo camera rig. Each individual camera has a pre-calculated matrix.
fx 0 cx
0 fy cy
0 0 1
and the camera output is already rectified, so the checkerboard images will be also.
I now need the relative transformation between the 2 cameras. Is it possible to give stereoCalibrate the intrinsic matrix info that I already have, and just get the R and T matrices back? How to go about this?
i have tried manually adding the Mtrix info:
Matx33f M1(716.917, 0, 328.413, 0, 716.917, 240.039, 0, 0, 1);
Matx33f M2(775.737, 0, 328.381, 0, 775.737, 240.516, 0, 0, 1);
but it gives me grey image output and a reprojection error 1.#IND.
I am using the stereo_calib example, and the relevant code I have is:
Mat cameraMatrix[2], distCoeffs[2];
cameraMatrix[0] = Mat::eye(3, 3, CV_64F);
cameraMatrix[1] = Mat::eye(3, 3, CV_64F);
Mat R, T, E, F;
double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
imageSize, R, T, E, F,
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
CV_CALIB_FIX_ASPECT_RATIO +
CV_CALIB_ZERO_TANGENT_DIST +
CV_CALIB_SAME_FOCAL_LENGTH +
CV_CALIB_RATIONAL_MODEL +
CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5);