Hello. I’m trying to join two points clouds from two ZED2i devices. I need translations and rotation of the second ZED camera relative to the first one. Furthermore, I’ve tried doing stereo calibration from OpenCV, but I got poor results. Probably I need to specify proper camera matrix and distortion coefficients for both cameras. How can I get them?
I run algorithm by:
double error = cv::stereoCalibrate( chessboardCornersWorldNestedForCV, slaveChessboardCornersList, masterChessboardCornersList, slaveCameraMatrix, slaveDistCoeff, masterCameraMatrix, masterDistCoeff, imageSize, R, // output t, // output cv::noArray(), cv::noArray(), cv::CALIB_FIX_INTRINSIC | cv::CALIB_RATIONAL_MODEL | cv::CALIB_CB_FAST_CHECK);
slaveCameraMatrix, masterCameraMatrix are just identity matrices
slaveDistCoeff, masterDistCoeff are vectors of floats, filled with zeros
Here is my result of joining two points clouds representing a chair: