Hi
Im using two point Grey Chameleon3 mono camera set up as Master Salve and synchronized so can work as stereo camera. Then was following the OpenCV tutorial to calibrate the cameras. I got 70 samples for the calibration and the . This are the Calibration results
Left:
('D = ', [-0.20826996106865595, 0.18366155924086058, -0.0034661778577718466, 0.00307931151347718, 0.0])
('K = ', [432.82205088588205, 0.0, 272.95231180581044, 0.0, 435.6996693192078, 174.95641222266673, 0.0, 0.0, 1.0])
('R = ', [0.9746296173669449, 0.02700939091034212, -0.22218821245470002, -0.026808041682390916, 0.9996329035169494, 0.003922640364378138, 0.22221259607033478, 0.0021333093834195356, 0.974995903139473])
('P = ', [482.0586696457318, 0.0, 402.53031158447266, 0.0, 0.0, 482.0586696457318, 178.41748809814453, 0.0, 0.0, 0.0, 1.0, 0.0])
Right:
('D = ', [-0.20871659658963718, 0.13988041114304747, -0.0024096479983088267, 0.0031211255518143266, 0.0])
('K = ', [428.59279077571426, 0.0, 275.84270706306677, 0.0, 430.39539990687126, 189.6284029604295, 0.0, 0.0, 1.0])
('R = ', [0.9744460995294874, 0.030491070431326987, -0.22254234144476925, -0.03069272631969819, 0.9995256063000713, 0.002553213962635353, 0.2225146189867814, 0.004342461793354892, 0.9749196825188937])
('P = ', [482.0586696457318, 0.0, 402.53031158447266, -71.0404082822227, 0.0, 482.0586696457318, 178.41748809814453, 0.0, 0.0, 0.0, 1.0, 0.0])
('self.T ', [-0.14360295357921507, -0.004493432498569846, 0.03279579808809728])
('self.R ', [0.999992392164315, -0.003887570979931969, 0.0003200083856870595, 0.0038871258997246238, 0.9999914930203251, 0.0013799055115972527, -0.0003253701440041504, -0.0013786511006187285, 0.9999989967272028])
None
# oST version 5.0 parameters
[image]
width
512
height
384
[narrow_stereo/left]
camera matrix
432.822051 0.000000 272.952312
0.000000 435.699669 174.956412
0.000000 0.000000 1.000000
distortion
-0.208270 0.183662 -0.003466 0.003079 0.000000
rectification
0.974630 0.027009 -0.222188
-0.026808 0.999633 0.003923
0.222213 0.002133 0.974996
projection
482.058670 0.000000 402.530312 0.000000
0.000000 482.058670 178.417488 0.000000
0.000000 0.000000 1.000000 0.000000
# oST version 5.0 parameters
[image]
width
512
height
384
[narrow_stereo/right]
camera matrix
428.592791 0.000000 275.842707
0.000000 430.395400 189.628403
0.000000 0.000000 1.000000
distortion
-0.208717 0.139880 -0.002410 0.003121 0.000000
rectification
0.974446 0.030491 -0.222542
-0.030693 0.999526 0.002553
0.222515 0.004342 0.974920
projection
482.058670 0.000000 402.530312 -71.040408
0.000000 482.058670 178.417488 0.000000
0.000000 0.000000 1.000000 0.00000
Why on the right camera have
('self.T ', [-0.14360295357921507, -0.004493432498569846, 0.03279579808809728])
('self.R ', [0.999992392164315, -0.003887570979931969, 0.0003200083856870595, 0.0038871258997246238, 0.9999914930203251, 0.0013799055115972527, -0.0003253701440041504, -0.0013786511006187285, 0.9999989967272028])
Then I got some images of the same chessboard that used to calibrate the cameras by different distances like 4m, 8m, 10m, 20m, 30 m and 40 m. I measured the distance from the camera to the chessboard with laser range finder very accurate.
My question is how to use those calibration results knowing the distance to the object to see how accurate is the camera and to get the disparity and how accurate can detect smallest object by certain distance? Like can use the cemara matrix or any formula to get disparity from the camera base line? Any help? Thanks