stereo cam calibration with kalibr

[Antariksha Kar]

Hi i just want to ask that whether a simple pair of stereo cam can be calibrated by  kalibr?i am using two logitech c110 webcam.An done more question how to use it and where will it store all the distortion matrix/xml files like in opencv????

[Thomas Schneider]

Hi Anatariksha,

Yes, performing a stereo calibration for in and extrinsics is possible with Kalibr. But you should note that the Logitech C110 cameras are most probably of rolling shutter type (see https://en.wikipedia.org/wiki/Rolling_shutter). Kalibr will does not account for these effects and you would be restricted to static images. You could achieve this by taking static pictures of the calibration pattern and process these into a rosbag using the provided tools. These limitations will make applications using this camera rig questionable though. You would need to model and account for the rolling shutter effects or you would be restricted to static or quasi-static scenes with good illumination and therefore low exposure times.

Best,
Thomas

[Thomas Schneider]

To address your last question:

The estimated calibration will be stored as a yaml in the directory from which you call the calibration application.

[Antariksha Kar]

Thank you very much for your reply.But in openCV also we use static images for calibration.They are just needed to store distortion matrix in xml files which are later needed to to be used in stereo camera performing disparity estimation.

the reason i am asking this question and also why i am interested in your tool ,is because i saw your tool kalibr being used in the Europa2 project and hence ifound it interesting.