Stereo Vision with close range measurement
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Hello, I am working on 3D reconstruction from stereo cameras for close range measurement (30 cm). My camera setting is:
- Two Prosilica GC 1020C 1024 x 768 color cameras with 1/3" sensors
- Two 8mm C-mount lenses
The camera setting looks like this:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222595/image.jpeg)
It is not perfectly parallel for close range measurement. I followed the guidance and tutorial with the MATLAB stereoCameraCalibrator and fiished the calibration. The calibration looks bad but I tried multiple methods (https://www.mathworks.com/matlabcentral/answers/153348-tips-and-tricks-about-3d-scene-reconstruction) to optimize the calibration process, it didn't work.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222596/image.jpeg)
However, the reprojection error is not always less than 0.5 pixels (average) and for some cases (I got reprojection error less than 0.5 pixels), the 3D reconstruction falied. It shows a sparse point cloud (looks like noisy data) with the "hand" paired images. I shows that even though the cameras are parallel to the ground (the hands should be on the save level height, but it is not). I am worried if this is the problem with the cameras not for the calibration.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222597/image.jpeg)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222598/image.jpeg)
The calibration images are attached, or find in the google link:
Google drive link:
(https://drive.google.com/drive/folders/1RbFlj8AE7AcB6N6qjAofWzA-_B0EbESv?usp=sharing).
I have trided different methods but I am not sure if this is the hardware problems or calibration issues. The 3D point cloud reconstruction is shown in the following:
Rectified images:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222599/image.jpeg)
Disparity map:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222600/image.jpeg)
3D point cloud:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/222601/image.jpeg)
Any recommendations would be helpful. Thanks.
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