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Stereo Fisheye Calibration #626

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KUTuaNithid opened this issue Jan 14, 2021 · 0 comments
Open

Stereo Fisheye Calibration #626

KUTuaNithid opened this issue Jan 14, 2021 · 0 comments
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@KUTuaNithid
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Good day

I'm using calibrator.py to calibrate my fisheye stereo camera.

The problem is about the projection matrix.

P[0, 0] of left and right camera is not match.

I suspect in this line. Why we need this ?

self.l.P[:3,:3] = numpy.dot(self.l.intrinsics,self.l.R)

Basically, cv2.fisheye.stereoRectify already provides projection matrix which P[0, 0] matchs between 2 cameras.
After this operation, projection matrix was changed and P[0, 0] is not matched between 2 cameras ?

The question is

  1. Why we need
    self.l.P[:3,:3] = numpy.dot(self.l.intrinsics,self.l.R)
  2. Is it strange when P[0, 0] is not matched in this operation ?
@mikeferguson mikeferguson changed the title Fisheye Calibration Stereo Fisheye Calibration Jan 22, 2024
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