How to compute stereo parameters if both left and right camera parameters are already known

I am right now using Computer Vision toolbox. Does any one there know how to compute stereo parameters if both left and right camera parameters are already known or pre-calculated using different set of images?

Answer 1

[Dima Lisin]

What you seem to be missing here is the rotation and translation between the two cameras. If you can somehow compute that, then you can create a stereoParameters object "by hand". However, the best thing to do is to calibrate your stereo camera using the Stereo Camera Calibrator app.

[Ding Yuan]

Thanks for your answer. Yes, the missing parameters may include the rotation and translation between the two cameras. We are interested in good code for computing both of them.

Due to the physical constraints of the light conditions and target, the calibration images we took are usually of poor quality. It is difficult to use them to derive consistent checkerboard pattern over a left-right pair series. Therefore Stereo Camera Calibration app won't work in our case. An improved version of Stereo Camera Calibration app with correspondence point editing capabilities would make the work easier.

[Dima Lisin]

Yes, unfortunately the app does not let you edit points manually. However, if you can somehow get the correspondences yourself, you can use the estimateCameraParameters function to do the stereo calibration.