I have problems with calibrating two cameras: first is rgb and second is infrared. They have different resolution (I resized and croped bigger image), focal length, etc...
Examples:
RGB 1920x1080
Infrared 512x424
How to calibrate them to each other? What parameters should I use in stereoCalibrate.
Default sample stereo_calib.cpp produce very big error.
Something like this: https://www.dropbox.com/s/x57rrzp1ejm3cac/%D0%A1%D0%BA%D1%80%D0%B8%D0%BD%D1%88%D0%BE%D1%82%202014-04-05%2012.54.17.png
done with RMS error=4.1026
average reprojection err = 10.2601
UPDATE
I generated calibration parameters for each cameras independently using calibration.cpp example. For RGB camera I first resize and crop image to resolution matches IR camera (512x424), then calibrate. For RGB camera I get camera.yml, for IR camera I get camera_ir.yml.
Then I try make stereo calibration using modified stereo_calib.cpp example. Before call stereoCalibrate I read camera_matrix and distortion_coefficients params for cameras from files, and put these matrices into stereoCalibrate.
FileStorage rgbCamSettings("camera.yml", CV_STORAGE_READ);
Mat rgbCameraMatrix;
Mat rgbDistCoeffs;
rgbCamSettings["camera_matrix"] >> rgbCameraMatrix;
rgbCamSettings["distortion_coefficients"] >> rgbDistCoeffs;
FileStorage irCamSettings("camera_ir.yml", CV_STORAGE_READ);
Mat irCameraMatrix;
Mat irDistCoeffs;
irCamSettings["camera_matrix"] >> irCameraMatrix;
irCamSettings["distortion_coefficients"] >> irDistCoeffs;
Mat cameraMatrix[2], distCoeffs[2];
cameraMatrix[0] = rgbCameraMatrix;
cameraMatrix[1] = irCameraMatrix;
distCoeffs[0] = rgbDistCoeffs;
distCoeffs[1] = irDistCoeffs;
Mat R, T, E, F;
double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
imageSize, R, T, E, F,
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 50, 1e-6),
CV_CALIB_FIX_INTRINSIC +
CV_CALIB_USE_INTRINSIC_GUESS
);