Difference between revisions of "Vvv10 camera calibration"

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Line 12: Line 12:
  
 
   camera matrix
 
   camera matrix
   459.376732 0.000000 360.661789
+
   443.59549 0.00000 344.89962
   0.000000 461.766460 196.489095
+
   0.00000 444.751606 207.652054
   0.000000 0.000000 1.000000
+
   0.00000 0.00000 1.00000
  
 
   distortion
 
   distortion
   0.008150 -0.116357 -0.007970 -0.003488 0.0000
+
   -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)
  
  

Revision as of 14:05, 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.


iCub dressed in black: OpenCV-model. 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 to within 2-3mm)


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