EpipolarError

The epipolar error of the 3D chessboard dots projected into the left and right image, indicating the accuracy of the stereo rectification. The error is computed as L2-norm of the individual point deviations in y in both images.

Format

Number

\(E_{epi}\)

Details

Let \((Lp_{i,x}, Lp_{i,y})\) and \((Rp_{i,x}, Rp_{i,y})\) be the 2D positions of the \(i_{th}\) chessboard dot in the left and right images and \((Lp^{'}_ {i,x}, Lp^{'}_{i,y})\) and \((Rp^{'}_{i,x}, Rp^{'}_{i,y})\) the coordinates of the projection of the \(i_{th}\) chessboard dot from the PatternPose into the left and right images. The epipolar error \(E_{epi}\) is then computed as:

\(E_{rep} = \sqrt{\sum[(Lp_{i,y} - Lp^{'}_{i,y})^{2} + (Rp_{i,y} - Rp^{'}_{i,y})^{2}]}\)