Difference between revisions of "Vvv10 camera calibration"

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Line 2: Line 2:
  
 
Undistorted images can be accessed at /icub/camcalib/left/out.
 
Undistorted images can be accessed at /icub/camcalib/left/out.
 
 
Right Camera (320x240)
 
 
  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)
 
 
  219.057  0.0      174.742  0.0
 
  0.0      219.028  102.874  0.0
 
  0.0      0.0      1.0      0.0
 
  
  
 
ARToolkit:
 
ARToolkit:
 
   dist_factor is set to {0.0, 0.0, 0.0, 1.0} if using undistorted images.
 
   dist_factor is set to {0.0, 0.0, 0.0, 1.0} if using undistorted images.
 
  
  
Line 32: Line 18:
 
   distortion
 
   distortion
 
   -1.46445 2.08289 -0.00235 0.01626 0.00000
 
   -1.46445 2.08289 -0.00235 0.01626 0.00000
 +
 +
 +
 +
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

Revision as of 19:16, 21 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.


iCub dressed in black: OpenCV-model. Left Camera (640x480):

 camera matrix
 896.27663 0.00000     344.85094
 0.00000   891.97614   200.52471
 0.00000   0.00000     1.00000
 
 distortion
 -1.46445 2.08289 -0.00235 0.01626 0.00000


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