Multi-Camera calibration - Stereo Cameras

Question

I am trying to use calibrate multi-stereo cameras, to get the Rotation and Translation of the camera pose. For example, how much both the cameras are actually displaced and how much it rotated.

I tried using OpenCV multi-camera calibration class,

https://docs.opencv.org/master/d2/d1c/tutorial_multi_camera_main.html

But I did not see correct Rotation and Translation matrix is retrived.

Other toools I tried vicalib faced integration issue with my camera.

Is there is any references so that I can do head start with Multi-camera calibration.

Answer 1

There is a camera calibration method in OpenCV. Here's the c++ method:

C++: double calibrateCamera(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria( TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON) )

Source and more docs: https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html