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2020-09-25 08:41:40 -0500 received badge  Critic (source)
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2020-09-22 10:41:39 -0500 answered a question Assertion Failed ( fabs(sc) > DBL_EPSILON ) using aruco::calibrateCameraCharuco

This problem was solved after ensuring that at least 8 points (corners) were found in each calibration image. I added a

2020-09-22 10:41:03 -0500 answered a question Chessboard Calibration DBL_EPSILON error

This problem was solved after ensuring that at least 8 points (corners) were found in each calibration image. I added a

2020-09-22 10:26:47 -0500 edited question Poor Rectification Results After Good(?) Intrinsic/Extrinsic Parameter Estimation

Poor Rectification Results After Good(?) Intrinsic/Extrinsic Parameter Estimation Problem: I have been trying to calibra

2020-09-22 10:24:08 -0500 received badge  Editor (source)
2020-09-22 10:24:08 -0500 edited question Poor Rectification Results After Good(?) Intrinsic/Extrinsic Parameter Estimation

Poor Rectification Results After Good(?) Intrinsic/Extrinsic Parameter Estimation Problem: I have been trying to calibra

2020-09-22 10:22:18 -0500 asked a question Poor Rectification Results After Good(?) Intrinsic/Extrinsic Parameter Estimation

Poor Rectification Results After Good(?) Intrinsic/Extrinsic Parameter Estimation Problem: I have been trying to calibra

2020-09-13 15:50:59 -0500 commented question Triangulation - Combining Data from Multiple Cameras

From what I've seen of other SFM work is that people are generally using feature detectors/matchers like ORB/SIFT etc. i

2020-09-11 15:06:37 -0500 asked a question Triangulation - Combining Data from Multiple Cameras

Triangulation - Combining Data from Multiple Cameras I have a setup with 8 synchronized cameras and I am trying to perfo

2020-09-11 13:33:31 -0500 asked a question Chessboard Calibration DBL_EPSILON error

Chessboard Calibration DBL_EPSILON error When using videos of my ChArUco chessboard for camera calibration I get the fol

2020-08-27 11:07:54 -0500 asked a question Assertion Failed ( fabs(sc) > DBL_EPSILON ) using aruco::calibrateCameraCharuco

Assertion Failed ( fabs(sc) > DBL_EPSILON ) using aruco::calibrateCameraCharuco When I try to calibrate my cameras in

2020-08-14 15:09:03 -0500 asked a question stereoCalibrate with RANSAC?

stereoCalibrate with RANSAC? I have been working on some camera calibration and noticed that some functions like findEss

2020-08-13 11:00:19 -0500 received badge  Self-Learner (source)
2020-08-13 10:44:52 -0500 commented answer Method for Multiple Camera (more than 2) Stereo Calibration

Thanks, it looks pretty close to what I was thinking. Here, https://github.com/DeepLabCut/DeepLabCut/blob/master/deeplab

2020-08-13 10:24:49 -0500 answered a question OpenCV Noisy Disparity Map from Stereo Setup

For my application I have moved on to using OpenCV's triangulatePoints function. I did have some more success with my di

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2020-08-12 13:30:21 -0500 asked a question Method for Multiple Camera (more than 2) Stereo Calibration

Method for Multiple Camera (more than 2) Stereo Calibration Hello, For my project I am looking at using 4 to 8 cameras

2020-07-29 09:16:09 -0500 asked a question Disparity Map vs. Triangulating Points

Disparity Map vs. Triangulating Points Hello, For my project I am only concerned about measuring 20 key points** in an

2020-07-29 09:07:09 -0500 received badge  Enthusiast
2020-07-26 10:34:28 -0500 commented question OpenCV Noisy Disparity Map from Stereo Setup

Thanks, I'll try refocusing that left camera again and re-calibrating. My rig is rigid both cameras are on sturdy tripod

2020-07-24 13:13:11 -0500 asked a question OpenCV Noisy Disparity Map from Stereo Setup

OpenCV Noisy Disparity Map from Stereo Setup I am trying to create a disparity map for depth calculations with my stereo

2020-07-22 08:48:54 -0500 received badge  Supporter (source)
2020-07-22 08:48:50 -0500 marked best answer Stereo Camera Calibration - World Origin

Hello, I have some questions about stereo calibration and I also wanted to verify that my understanding so far is correct.

I am working on a project where I want to get 3D coordinates from a stereo camera setup. I am working in C++ using the opencv_contrib aruco library for ChArUco board detection. So far I have calibrated both of my cameras intrinsic parameters (camera matrix, and distortion coefficients for each) by detecting ChArUco board corners and refining them, then I use cv::aruco::calibrateCameraCharuco to get intrinsics. Next, I create a stereo pair by gathering new images where both cameras can see the calibration board. I detect ChArUco board corners from each cameras viewpoint and run cv::stereoCalibrate. Running stereoCalibrate provides me with the extrinsic parameters (rotation matrix, and translation matrix) for the transformation from camera 1's coordinate system to camera 2's coordinate system (correct me if I'm wrong!).

Now that I have my intrinsic parameters for each camera, and my extrinsic parameters relating the two camera coordinate systems, I run cv::stereoRectify to obtain projection matrices for each camera that transform the camera views to be planar with one another. Next, I wanted to run cv::triangulatePoints to see how accurate my 3D point is. Running this triangulation function I get a result returned to me, however, I believe that this 3D point if relative to the world origin. I am wondering how/where OpenCV sets the world origin, and I would like to know how I should go about setting my own world origin.

Here is a list breakdown of my current workflow: 1. Gather a set of calibration images for each camera 2. Use each cameras set of images to calibrate intrinsic parameters 3. Gather a new set of calibration images for the stereo pair, where both cameras can view the ChArUco board 4. Use the images to calibrate extrinsic parameters of the stereo pair And now the part I'm not sure how to do... 5. Use the calibrated cameras with extrinsic parameters to determine 3D points relative to the world origin in my workspace

Thanks for the help!

2020-07-22 08:48:50 -0500 received badge  Scholar (source)
2020-07-21 11:44:21 -0500 commented answer Stereo Camera Calibration - World Origin

The coordinates that I get back from cv::triangulatePoints, are they in reference to one of the cameras then? Do you kno

2020-07-20 14:35:35 -0500 asked a question Stereo Camera Calibration - World Origin

Stereo Camera Calibration - World Origin Hello, I have some questions about stereo calibration and I also wanted to veri

2020-07-20 14:35:35 -0500 asked a question Stereo Camera Calibration - World Origin

Stereo Camera Calibration - World Origin Hello, I have some questions about stereo calibration and I also wanted to veri