How to use a chessboard to search for rotation / translation between two cameras

Question

I am using opencv with C, and I am trying to get external parameters (rotate and translate) between two cameras.

I am told that a checkerboard pattern can be used for calibration, but I cannot find good patterns. How can I do it?

change

The suggested recommendations are for calibrating a single chamber with a chessboard. How would you find the rotation and translation between the two cameras, given the chessboard images from both views?

Answer 1

I used the code http://www.starlino.com/opencv_qt_stereovision.html . It contains some useful information, and the author’s code is quite easy to understand and analyze, it covers both the calibration of a chessboard and the acquisition of depth images from stereo cameras. I think this is based on this OpenCV book.

Answer 2

opencv library here and about three chapters of the opencv book

Answer 3

A camera image is just a projection of a bunch of color samples onto a plane. Assuming that the camera itself creates images with square pixels, the possible position of this pixel is a vector from the source of the camera along the plane onto which the pixel was projected. We will refer to this plane as the image plane.

One sample does not give you such information. Two samples tell you a little more - the position of the camera relative to the plane created by three points: two points of reference and the position of the camera. And the third sample shows you the relative position of the camera in the world; it will be one point in space.

If you take the same three samples and find them in another picture taken from another camera, you can determine the relative position of the cameras from the three samples (and their orientation based on the right and top vectors of the image plane). At the right distance, you need to know the distance between the actual sampling points. In the case of a chessboard, these are the physical dimensions of a chessboard.