Difference between revisions of "Vvv10 camera calibration"

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iCub dressed in black: OpenCV-model.
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== Calibration on 22.7.2010 ==
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Robot: iCub dressed in black (Genova - icub01)
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Calibration: OpenCV-model
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 +
We adjusted the cameras of the icub in this way:
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Shutter: 0,4732 (man)
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Brightnes
 +
 +
 
 
Left Camera (640x480):
 
Left Camera (640x480):
  
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   -0.32121817642921552 0.081499928514089562 -0.000925993397250783 2.6147302026114336e-05 0
 
   -0.32121817642921552 0.081499928514089562 -0.000925993397250783 2.6147302026114336e-05 0
  
(With these values, we managed to get artoolkit to calculate the distance of markers of 2cm to within 2-3mm)
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(With these values, we managed to get artoolkit to calculate the distance of markers of 2cm @ 40cm to within 2-3mm)
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 +
Right Camera (640x480):
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  camera matrix
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  446.30787465601099    0.0                  313.73434091798771
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  0.0                  448.44778322512855  224.4691342181579
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  0.0                  0.0                  1.0
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  distortion
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  -0.32616218659596552 0.086072743232755614 -0.001835706149853529 -0.001007764102799745 0
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Revision as of 15:32, 22 July 2010

Black iCub (/icub01) Camera Calibration matrices follow (they should be accurate enough).

Undistorted images can be accessed at /icub/camcalib/left/out.


ARToolkit:

 dist_factor is set to {0.0, 0.0, 0.0, 1.0} if using undistorted images.


Calibration on 22.7.2010

Robot: iCub dressed in black (Genova - icub01) Calibration: OpenCV-model

We adjusted the cameras of the icub in this way:

Shutter: 0,4732 (man)
Brightnes 

Left Camera (640x480):

 camera matrix
 443.59549 0.00000 344.89962 
 0.00000 444.751606 207.652054 
 0.00000 0.00000 1.00000
 distortion
 -0.32121817642921552 0.081499928514089562 -0.000925993397250783 2.6147302026114336e-05 0

(With these values, we managed to get artoolkit to calculate the distance of markers of 2cm @ 40cm to within 2-3mm)

Right Camera (640x480):

 camera matrix
 446.30787465601099    0.0                  313.73434091798771
 0.0                   448.44778322512855   224.4691342181579
 0.0                   0.0                  1.0
 distortion
 -0.32616218659596552 0.086072743232755614 -0.001835706149853529 -0.001007764102799745 0




Right Camera (320x240):

 camera matrix
 216.076324 0.000000 150.273715
 0.000000 216.333634 108.636903
 0.000000 0.000000 1.000000
 distortion
 -0.045472 0.030427 -0.007694 -0.009371 0.0000