Stereo Camera Rectification using saved parametersRectifying images on opencv with intrinsic and extrinsic parameters already found3D stereo, bad 3D coordinatesHow do I get the projection matrix of a camera after stereo rectification?Is reprojection error enough in stereo calibration?In stereo calibration, how the extrinsic matrix changes if i change the resolution of stereo camera3D world Coordinate estimation using stereo cameraRectifiy stereo images - Matlab to OpenCV PythonLow average reprojection error for stereo calibration but stereo rectification shows wrong resultProblem with stereo rectification using OpenCV and PythonHow can you rectify cropped stereo images in OpenCV?
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Stereo Camera Rectification using saved parameters
Rectifying images on opencv with intrinsic and extrinsic parameters already found3D stereo, bad 3D coordinatesHow do I get the projection matrix of a camera after stereo rectification?Is reprojection error enough in stereo calibration?In stereo calibration, how the extrinsic matrix changes if i change the resolution of stereo camera3D world Coordinate estimation using stereo cameraRectifiy stereo images - Matlab to OpenCV PythonLow average reprojection error for stereo calibration but stereo rectification shows wrong resultProblem with stereo rectification using OpenCV and PythonHow can you rectify cropped stereo images in OpenCV?
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im using intrinsics and extrinsics files from my calibration of my camera to rectify my image pair so i can make a better depth map, but every time i try to run my program. my depth map output only shows blank.
here is the code of my rectification:
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrisics"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, 0, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
My SGBM code:
Ptr<StereoSGBM> sgbm = StereoSGBM::create
(0, //int minDisparity
96, //int numDisparities
5, //int SADWindowSize
600, //int P1 = 0
2400, //int P2 = 0
20, //int disp12MaxDiff = 0
16, //int preFilterCap = 0
1, //int uniquenessRatio = 0
100, //int speckleWindowSize = 0
20, //int speckleRange = 0
true); //bool fullDP = false
sgbm->compute(img1r, img2r, disparity_sgbm);
normalize(disparity_sgbm, disp_done_sgbm, 0, 255, CV_MINMAX, CV_8U);
everytime i calibrate my camera and running my program works and gives decent depth map. but the stereo pair is not aligned because its not rectified. calibrating my camera takes few hours so im trying to just load the parameters of my camera so i dont have to calibrate for hours every time to get a decent depth map
Thank you in advance!
Here are my outputs:
https://docs.google.com/document/d/1ajS3vgoVPx2RgbroV8qH2WYHU85PL_SJ-9A4q8aa8e8/edit?usp=sharing
c++ opencv
add a comment |
im using intrinsics and extrinsics files from my calibration of my camera to rectify my image pair so i can make a better depth map, but every time i try to run my program. my depth map output only shows blank.
here is the code of my rectification:
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrisics"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, 0, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
My SGBM code:
Ptr<StereoSGBM> sgbm = StereoSGBM::create
(0, //int minDisparity
96, //int numDisparities
5, //int SADWindowSize
600, //int P1 = 0
2400, //int P2 = 0
20, //int disp12MaxDiff = 0
16, //int preFilterCap = 0
1, //int uniquenessRatio = 0
100, //int speckleWindowSize = 0
20, //int speckleRange = 0
true); //bool fullDP = false
sgbm->compute(img1r, img2r, disparity_sgbm);
normalize(disparity_sgbm, disp_done_sgbm, 0, 255, CV_MINMAX, CV_8U);
everytime i calibrate my camera and running my program works and gives decent depth map. but the stereo pair is not aligned because its not rectified. calibrating my camera takes few hours so im trying to just load the parameters of my camera so i dont have to calibrate for hours every time to get a decent depth map
Thank you in advance!
Here are my outputs:
https://docs.google.com/document/d/1ajS3vgoVPx2RgbroV8qH2WYHU85PL_SJ-9A4q8aa8e8/edit?usp=sharing
c++ opencv
add a comment |
im using intrinsics and extrinsics files from my calibration of my camera to rectify my image pair so i can make a better depth map, but every time i try to run my program. my depth map output only shows blank.
here is the code of my rectification:
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrisics"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, 0, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
My SGBM code:
Ptr<StereoSGBM> sgbm = StereoSGBM::create
(0, //int minDisparity
96, //int numDisparities
5, //int SADWindowSize
600, //int P1 = 0
2400, //int P2 = 0
20, //int disp12MaxDiff = 0
16, //int preFilterCap = 0
1, //int uniquenessRatio = 0
100, //int speckleWindowSize = 0
20, //int speckleRange = 0
true); //bool fullDP = false
sgbm->compute(img1r, img2r, disparity_sgbm);
normalize(disparity_sgbm, disp_done_sgbm, 0, 255, CV_MINMAX, CV_8U);
everytime i calibrate my camera and running my program works and gives decent depth map. but the stereo pair is not aligned because its not rectified. calibrating my camera takes few hours so im trying to just load the parameters of my camera so i dont have to calibrate for hours every time to get a decent depth map
Thank you in advance!
Here are my outputs:
https://docs.google.com/document/d/1ajS3vgoVPx2RgbroV8qH2WYHU85PL_SJ-9A4q8aa8e8/edit?usp=sharing
c++ opencv
im using intrinsics and extrinsics files from my calibration of my camera to rectify my image pair so i can make a better depth map, but every time i try to run my program. my depth map output only shows blank.
here is the code of my rectification:
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrisics"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, 0, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
My SGBM code:
Ptr<StereoSGBM> sgbm = StereoSGBM::create
(0, //int minDisparity
96, //int numDisparities
5, //int SADWindowSize
600, //int P1 = 0
2400, //int P2 = 0
20, //int disp12MaxDiff = 0
16, //int preFilterCap = 0
1, //int uniquenessRatio = 0
100, //int speckleWindowSize = 0
20, //int speckleRange = 0
true); //bool fullDP = false
sgbm->compute(img1r, img2r, disparity_sgbm);
normalize(disparity_sgbm, disp_done_sgbm, 0, 255, CV_MINMAX, CV_8U);
everytime i calibrate my camera and running my program works and gives decent depth map. but the stereo pair is not aligned because its not rectified. calibrating my camera takes few hours so im trying to just load the parameters of my camera so i dont have to calibrate for hours every time to get a decent depth map
Thank you in advance!
Here are my outputs:
https://docs.google.com/document/d/1ajS3vgoVPx2RgbroV8qH2WYHU85PL_SJ-9A4q8aa8e8/edit?usp=sharing
c++ opencv
c++ opencv
edited Mar 20 at 9:02
HansHirse
2,200826
2,200826
asked Mar 20 at 8:53
Chester LigutanChester Ligutan
83
83
add a comment |
add a comment |
2 Answers
2
active
oldest
votes
The rectification process seems ok, is it possibly something wrong with your data?
I suggest to make sure that your rectification inputs are loaded with no error and the remapping step gives the right row-aligned stereo pairs.
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
add a comment |
i also tried adding try catch but it seems to be not showing any kind of error but still when i tried rectifying my image pair then getting its depth map i still get an empty white depth map
try
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << intrinsics << "". Reason: " << e.msg << endl;
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
try
FileStorage fs("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << extrinsics << "". Reason: " << e.msg << endl;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
do i also have an error in my try catch?
add a comment |
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2 Answers
2
active
oldest
votes
2 Answers
2
active
oldest
votes
active
oldest
votes
active
oldest
votes
The rectification process seems ok, is it possibly something wrong with your data?
I suggest to make sure that your rectification inputs are loaded with no error and the remapping step gives the right row-aligned stereo pairs.
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
add a comment |
The rectification process seems ok, is it possibly something wrong with your data?
I suggest to make sure that your rectification inputs are loaded with no error and the remapping step gives the right row-aligned stereo pairs.
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
add a comment |
The rectification process seems ok, is it possibly something wrong with your data?
I suggest to make sure that your rectification inputs are loaded with no error and the remapping step gives the right row-aligned stereo pairs.
The rectification process seems ok, is it possibly something wrong with your data?
I suggest to make sure that your rectification inputs are loaded with no error and the remapping step gives the right row-aligned stereo pairs.
answered Mar 23 at 7:04
wen daiwen dai
285
285
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
add a comment |
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
i used the opencv sample code of stereo camera calibration to get my intrinsic and extrinsic parameters. i did get an average error of 1.5 with 150 image pairs.
– Chester Ligutan
Mar 25 at 7:57
add a comment |
i also tried adding try catch but it seems to be not showing any kind of error but still when i tried rectifying my image pair then getting its depth map i still get an empty white depth map
try
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << intrinsics << "". Reason: " << e.msg << endl;
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
try
FileStorage fs("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << extrinsics << "". Reason: " << e.msg << endl;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
do i also have an error in my try catch?
add a comment |
i also tried adding try catch but it seems to be not showing any kind of error but still when i tried rectifying my image pair then getting its depth map i still get an empty white depth map
try
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << intrinsics << "". Reason: " << e.msg << endl;
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
try
FileStorage fs("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << extrinsics << "". Reason: " << e.msg << endl;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
do i also have an error in my try catch?
add a comment |
i also tried adding try catch but it seems to be not showing any kind of error but still when i tried rectifying my image pair then getting its depth map i still get an empty white depth map
try
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << intrinsics << "". Reason: " << e.msg << endl;
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
try
FileStorage fs("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << extrinsics << "". Reason: " << e.msg << endl;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
do i also have an error in my try catch?
i also tried adding try catch but it seems to be not showing any kind of error but still when i tried rectifying my image pair then getting its depth map i still get an empty white depth map
try
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << intrinsics << "". Reason: " << e.msg << endl;
FileStorage fs("intrinsics.yml", FileStorage::READ);
fs["intrinsics.yml"] >> intrinsics;
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
M1 *= scale;
M2 *= scale;
try
FileStorage fs("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
catch (cv::Exception& e)
cerr << "Error opening file "" << extrinsics << "". Reason: " << e.msg << endl;
fs.open("extrinsics.yml", FileStorage::READ);
fs["extrinsics.yml"] >> extrinsics;
Mat R, T, R1, R2, P1, P2;
fs["R"] >> R;
fs["T"] >> T;
fs["R1"] >> R1;
fs["R2"] >> R2;
fs["P1"] >> P1;
fs["P2"] >> P2;
fs["Q"] >> Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_32FC1, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_32FC1, map21, map22);
Mat img1r, img2r;
remap(grayL, img1r, map11, map12, INTER_LINEAR);
remap(grayR, img2r, map21, map22, INTER_LINEAR);
do i also have an error in my try catch?
answered Mar 25 at 8:23
Chester LigutanChester Ligutan
83
83
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