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Format/terminology question about ROS camera calibration file

asked 2012-08-06 09:26:16 -0600

ranqi gravatar image

updated 2012-08-06 09:27:44 -0600

Hi,

I have a question about ROS calibration file, which usually looks like following:

image_width: 640

image_height: 480

camera_name: depth

camera_matrix:

rows: 3

cols: 3

data: [576.340422017257, 0, 315.229913874748, 0, 577.120041676589, 250.030883769157, 0, 0, 1]

distortion_model: plumb_bob

distortion_coefficients:

rows: 1

cols: 5

data: [-0.0286095107438031, 0.0222151550967861, 0.00317802383728588, -0.000592924755007265, 0]

rectification_matrix:

rows: 3

cols: 3

data: [1, 0, 0, 0, 1, 0, 0, 0, 1]

projection_matrix:

rows: 3

cols: 4

data: [571.976867675781, 0, 314.347170717498, 0, 0, 573.202819824219, 250.547239071138, 0, 0, 0, 1, 0]

My question is: what is the difference between camera_matrix and projection_matrix. They all looks like sort of "intrinsics matrix", but they are off a bit numerically. How do I transform our intrinsics matrix from our customized calibration procedure into this format properly?

Thank you for any help!

Best, Ranqi

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answered 2012-08-06 09:45:02 -0600

The full definition of the CameraInfo message has a pretty good description of what each term means.

For a monocular camera, P and K will be the same. For a stereo pair:

[Tx Ty 0]' is related to the position of the optical center of the second camera in the first camera's frame.

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Asked: 2012-08-06 09:26:16 -0600

Seen: 284 times

Last updated: Aug 06 '12