Camera baseline

Question

Can anyone here explain what the baseline of the camera is?

Answer 1

You are apparently dealing with stereo, where the base level (at least usually) is the distance between the two lenses.

Answer 2

I believe

Z (depth) = (focalLength * baseline) / disparity 

Other coordinates can be found here: http://www.ptgrey.com/support/kb/index.asp?a=4&q=63&ST=

Answer 3

The baseline (the distance between both cameras) will affect the depth range that you can observe with the stereo camera, as well as the depth resolution. The same goes for the focal length of the lenses you are using.

Assuming you are handling a range of inconsistencies with a constant size, the following rules apply:

• Increasing the baseline will increase your resolution in depth, but also increase the minimum distance to the camera.
• Increasing the focal length will also increase the resolution in depth and the minimum distance to the camera, but also reduce the field of view.

This relationship can be studied using the following online calculator: https://nerian.com/support/resources/calculator/

Answer 4

The baseline is the distance between two stereo cameras. When you perform stereo calibration, the openCV method returns R, T (rotation and translation between your cameras)