Stereo - Depth Range Calculation

0
votes

How to know the depth range of the Stereo camera?

Camera Specifications

  • Baseline : 6 cm.
  • FOV : 120°(D)
  • Focal Length: 2.8 mm
  • Sensor Size: 1/3 inch
  • Resolution: 640 x 480 (from each sensor)

Calibration procedure:

  • Fisheye module of OpenCV3.1 to calibrate both the camera's individually.

  • Proceeded by Stereo Calibration.

  • Matching Algorithm Used: StereoBM

Observations:

  • Depth Range - 30 cm to 100 cm.
  • The RMS error for the individual camera calibration and stereo calibration is less than 0.5.
  • The depth value in the range (30 cm - 100 cm) is pretty good, i.e i don't get much deviation in the depth.

Question:

Is this is the maximum range for the above specifications.

1
opencvstereo-3d

1 Answers

1
votes

You can compute a minimum depth value with

minD = tan(fov/2) * baseline/2 = ~5.2cm

, but the maximum depth value is infinity. You can verify this by projecting the point at inifinity (0,0,1,0) into both of your images (assuming the cameras are centered around the origin and look into +z).