fisheye model not working with ROI?

asked 2015-10-18 23:08:56 -0500

flankechen27 gravatar image

I have a ultra wide angle stereo camera set up and trying stereo calibration with fisheye model in 2.4.11. However, fisheye stereo calibration doesn't get a roi parameter?

I use input images like: image description

I calibrate each camera with cv::fisheye::calibrate(objectPoints, imagePoints[0], imageSize, cameraMatrix[0], distCoeffs[0], rvecs, tvecs, fisheye::CALIB_RECOMPUTE_EXTRINSIC + fisheye::CALIB_CHECK_COND + fisheye::CALIB_FIX_SKEW ,TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5)); which produce: image description

then I stereo calibrate with double rms = cv::fisheye::stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1], cameraMatrix[0], distCoeffs[0], cameraMatrix[1], distCoeffs[1], imageSize, R, T, fisheye::CALIB_FIX_INTRINSIC + fisheye::CALIB_USE_INTRINSIC_GUESS + fisheye::CALIB_CHECK_COND + fisheye::CALIB_FIX_SKEW , TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,200, 1e-5)); and then rectify images looks like:image description

obviously that there is blank region in the rectified images and FOV is bigger then the single calibrated. So, how should I get the roi of the fisheye stereo calibration?

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