How to calibrate stereo

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1

After numerous attempts to calibrate the cameras, the result is always something like this:

IMG_20220202_015800_198
IMG_20220202_015800_1981280×720 183 KB

Is there any special way to calibrate cameras, what could be the problem?

1 Like
2

your board is symmetric (180 degree rotational).

use a board with one dimension being odd and the other being even. that’ll not be rotationally symmetric.

3

A board with asymmetrical circles would will be better, like on dji drones?

14660127065741986
14660127065741986842×595 77.1 KB

Circle gride
Circle gride1128×641 65.7 KB

This chessboard is made of four sheets of A4, maybe the problem is that they are not positioned correctly?

20220206_103915
20220206_1039151920×1440 147 KB

4
  1. picture: bad. has 180 degree rotational symmetry.
  2. picture: good. has no rotational symmetry.
  3. picture: bad. has 180 degree rotational symmetry.
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6

Thanks now I’m using a printed size board on A2 asymtric gride, but it looks like it’s not just the board. Array objectsPoints, what units of measurement should I enter the size of the circle or the distance between the circles for variable squareSize? In integers, for example, 50 mm circle diameter of
70mm spacing distance?

photo5197699018971527793
photo51976990189715277931280×720 129 KB 

case Settings::ASYMMETRIC_CIRCLES_GRID:
  for( int i = 0; i < boardSize.height; i++ )
     for( int j = 0; j < boardSize.width; j++ )
        corners.push_back(Point3f(float((2*j + i % 2) * squareSize), float(i* squareSize ), 0));
  break;