Stereo - Depth Range Calculation

asked 2017-10-03 08:29:55 -0600

John_OpenCVdev
31 ●1 ●3

updated 2017-10-04 14:10:27 -0600

opalmirror

641 ●6 ●15 http://www.loowit.net/...

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.

answered 2017-10-03 10:57:19 -0600

LBerger
9317 ●2 ●20 ●88 http://www.traimaocv.fr

updated 2017-10-04 06:58:51 -0600

depth range z is given by relation

z=f m b/(u2-u1) u2-u1 is disparity, f focal length and m pixel by unit length without sensor size you cannot find an answer to your question

in your case f 0.0028 m=sqrt(640^2+480^2)/(1/3*0.0254) b=0.06

d=sqrt(640^2+480^2)/(1/30.0254)0.060.0028.(1:100).^(-1)

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Comments

I have updated the question with sensor size.

John_OpenCVdev ( 2017-10-04 01:41:20 -0600 )edit

Sorry i forgot base (b ) in first formulation)

LBerger ( 2017-10-04 06:32:04 -0600 )edit

Hello,Can i use this formula: d=f*b/(u1-u2), b:focal length in pixels (from the camera matrix after calibration)?? and how can i use it to calculate the depth range? thanks in advance

imen ( 2018-07-26 05:28:07 -0600 )edit

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