CODEWITHSUNDEEP
computer-visioncamera-calibrationstereo-3ddisparity-mapping
Priyamvadha Krishnakumar
Priyamvadha Krishnakumar

Reputation: 33

Calculate baseline distance between 2 cameras (images)

I want to estimate the depth map between left and right images from "http://perso.lcpc.fr/tarel.jean-philippe/syntim/paires/GrRub.html". I understand that I must first calculate depth from disparity using formula Z = B * F/d The data set unfortunately does not provide Baseline distance B. Could you suggest how I can calculate this(if possible) or how I could calculate depth map from given data alone?

Thank you for your help. As I am new to stackoverflow and computer vision, do let me know if I should provide more details.

Upvotes: 0

Views: 2499

Answers (1)

marcoresk
marcoresk

Reputation: 1955

If you have the extrinsic parameters, rotational matrices R and translation vector t, there are two cases

a) (most probable) one of your camera (the main camera) is the centre of your coordinate system: the R1 matrix is the identity matrix and the related t1 is equal to [0,0,0]. In this case you could think the baseline B as the euclidean norm of the translation vector t2 of the other camera

b) in case none of your camera is the centre of your coordinate system, at least you should have calibrated your cameras with respect to the same reference system. The baseline B is the euclidean norm of the difference vector (t1 - t2)

(I was not able to open the left/right camera links, so I could not verify)

Upvotes: 1

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