어안 카메라와 기본 렌즈 카메라로 구성한 스테레오 시스템

어안 카메라와 기본 렌즈 카메라로 구성된 스테레오 카메라 시스템의 상대적 R,T를 추정하려고 하는데,

기본적으로 스테레오 카메라 보정기 어플이나, estimateCameraParameters 함수의 경우에는 어안 카메라와 일반 렌즈 카메라의 스테레오 파라미터 추정은 지원하지 않더군요.

이 경우에는 어떻게 해야 하는지 궁금합니다.

Answer 1

[Harsh]

Hi @채민,

From what I can gather, you are trying to estimate the relative "R" and "T" of a stereo camera system consisting of a fisheye camera and a basic lens camera.

I believe that to estimate the relative R and T of this stereo camera system, "cameraParameters" object's "estimateFisheyeParameters" and "estimateCameraParameters" functions can be leveraged respectively. See:

• https://www.mathworks.com/help/vision/ref/cameraparameters.html
• https://www.mathworks.com/help/vision/ref/estimatefisheyeparameters.html#d126e356605
• https://www.mathworks.com/help/vision/ref/estimatecameraparameters.html

With individual camera intrinsics in hand, their relative "R" and "T" can be determined using a PnP-like (perspective-n-point) approach.

This is achieved by capturing images of a common calibration object (e.g., a checkerboard) visible in both cameras and detecting corresponding 2D image points.

The "estworldpose" function, implementing the perspective-three-point (P3P) algorithm, can then solve the PnP problem. For more information, please refer to the following:

https://www.mathworks.com/help/vision/ref/estworldpose.html

I hope this helps, thanks!