Difference between revisions of "Vvv10 camera calibration"

From Wiki for iCub and Friends
Jump to: navigation, search
Line 30: Line 30:
 
   0.00000 444.751606 207.652054  
 
   0.00000 444.751606 207.652054  
 
   0.00000 0.00000 1.00000
 
   0.00000 0.00000 1.00000
 
+
 
 
   distortion
 
   distortion
 
   -0.32121817642921552 0.081499928514089562 -0.000925993397250783 2.6147302026114336e-05 0
 
   -0.32121817642921552 0.081499928514089562 -0.000925993397250783 2.6147302026114336e-05 0
Line 42: Line 42:
 
   0.0                  448.44778322512855  224.4691342181579
 
   0.0                  448.44778322512855  224.4691342181579
 
   0.0                  0.0                  1.0
 
   0.0                  0.0                  1.0
 
+
 
 
   distortion
 
   distortion
 
   -0.32616218659596552 0.086072743232755614 -0.001835706149853529 -0.001007764102799745 0
 
   -0.32616218659596552 0.086072743232755614 -0.001835706149853529 -0.001007764102799745 0
Line 49: Line 49:
  
  
 
+
Older parameters (smaller resolution)
  
 
Right Camera (320x240):
 
Right Camera (320x240):
Line 57: Line 57:
 
   0.000000 216.333634 108.636903
 
   0.000000 216.333634 108.636903
 
   0.000000 0.000000 1.000000
 
   0.000000 0.000000 1.000000
 
+
 
 
   distortion
 
   distortion
 
   -0.045472 0.030427 -0.007694 -0.009371 0.0000
 
   -0.045472 0.030427 -0.007694 -0.009371 0.0000

Revision as of 15:35, 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:

Format:      RGB8 640x480 15fps
Shutter:     0.4732 (man)
Brightness:  0.0 (man)
Gain:        0.0 (man)
Sharpness    1.0 (man)
Sat          0.271
Gam          0.388


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



Older parameters (smaller resolution)

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