Difference between revisions of "Vvv10 camera calibration"

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Line 4: Line 4:
  
  
Right Camera (320x240)
+
ARToolkit:
 +
  dist_factor is set to {0.0, 0.0, 0.0, 1.0} if using undistorted images.
  
  225.904  0.0      157.858  0.0
 
  0.0      227.041  113.51  0.0
 
  0.0      0.0      1.0      0.0
 
  
Left Camera (320x240)
+
== Calibration on 22.7.2010 ==
  
  219.057  0.0      174.742 0.0
+
Robot: iCub dressed in black (Genova - icub01)
  0.0      219.028  102.874  0.0
+
Calibration: OpenCV-model [http://opencv.willowgarage.com/documentation/python/camera_calibration_and_3d_reconstruction.html Description of the model]
  0.0      0.0      1.0      0.0
 
  
 +
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
  
ARToolkit:
+
Left Camera (640x480):
  dist_factor is set to {0.0, 0.0, 0.0, 1.0} if using undistorted images.
 
  
 +
  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)
  
iCub dressed in black:  OpenCV-model.
+
Right Camera (640x480):
Left Camera (640x480):
 
  
 
   camera matrix
 
   camera matrix
   896.27663 0.00000    344.85094
+
   446.30787465601099    0.0                  313.73434091798771
   0.00000  891.97614   200.52471
+
   0.0                  448.44778322512855   224.4691342181579
   0.00000  0.00000    1.00000
+
   0.0                  0.0                  1.0
 
+
 
 
   distortion
 
   distortion
   -1.46445 2.08289 -0.00235 0.01626 0.00000
+
   -0.32616218659596552 0.086072743232755614 -0.001835706149853529 -0.001007764102799745 0

Latest revision as of 11:04, 23 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 Description of the 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