EpipolarError

The error \(E_{epi}\) of the 3D calibration pattern points projected into the left and right image.

This value indicates the accuracy of the stereo rectification. It is computed as L2-norm of the individual point deviations in y in both images.

Let \((Lp_{i,x}, Lp_{i,y})\) and \((Rp_{i,x}, Rp_{i,y})\) be the 2D positions of the \(i_{th}\) calibration pattern point 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 \(i_{th}\) calibration pattern point from the Pose into the left and right images. The epipolar error \(E_{epi}\) is then computed as:

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

Note

This node only exists for stereo patterns.

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