ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

regular camera and range camera calibration

asked 2015-06-25 02:43:46 -0500

rocklinsuv gravatar image

Dear all,

I'm facing a camera calibration problem. Say I have one regular camera C1, 640 by 480 pixels, and a range camera C2, 165 by 120 pixels. I put them close to each other, base line of which is approximately 5cm. I detect some points in C1, and konw their pixel coordinates. If I would like to know the pixel coordinates in C2, what should I do? Assume that I have already calibrated each camera and get their intrinsic /extrinsic parameters by OpenCV chessboard method. I assume that there is a rotation/traslation matrix between the points, and a scaling factor as well, but I have no idea how I can get it. Please correct me if I'm wrong, many thanks!

Cheers, Lyn

edit retag flag offensive close merge delete


I'm not sure also. A properly calibrated range camera will determine a 3D point for each 2D image point while the regular camera will have a unknown depth for each pixel. With similar cameras a block matching algorithm can be used to do the correspondence. Maybe you should do feature matching.

ffusion gravatar image ffusion  ( 2015-06-26 05:28:27 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2015-06-26 06:36:05 -0500

rocklinsuv gravatar image

Thanks to the author of ROS package pmd_camboard_nano, Sergey Alexandrov, I got some hints. First I was thinking this is quite an easy problem, but somehow it is a research topic (Since Kinect was first launched in 2010? It became popular because people need a depth camera and a regular camera to work together). A PAMI paper discribes this in detail: link text. We need to estimate the extrinsic parameters of the two cameras, which requires a different model. I'm still working on understanding this paper. As they provide a toolbox as well, I'll post some result of the calibration once done. :D

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2015-06-25 02:42:54 -0500

Seen: 111 times

Last updated: Jun 26 '15