camera calibration

asked 2013-09-10 11:26:52 -0600

RamAlien
23 ●3 ●4 ●7

Dear All,

When I try to calibrate microsoft lifecam using the tutorials in the below link :

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

I got the values. However if I need to convert to ros understandable yaml file, I need to fill in the distortion model and the camera model. I saw an example for prosilica but do not know what to fill in for the lifecam.

Any suggestions would be appreciated.

Best Regards Praveen

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answered 2013-09-10 23:52:06 -0600

MichaelKorn

1480 ●16 ●18 ●37 http://www.is.uni-due.de/korn/

updated 2013-09-11 01:41:03 -0600

I'm not sure I understand your problem (because you can find the link also on http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration), but I'm thinking you need this: http://wiki.ros.org/camera_calibration_parsers

example for a .ini file (kinect camera):

# oST version 5.0 parameters


[image]

width
1280

height
1024

[narrow_stereo/left]

camera matrix
1429.274851 0.000000 642.481927
0.000000 1430.114034 493.656022
0.000000 0.000000 1.000000

distortion
0.203354 -0.626886 0.002481 0.000232 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
1450.860596 0.000000 642.215646 0.000000
0.000000 1452.523071 494.611373 0.000000
0.000000 0.000000 1.000000 0.000000

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answered 2013-09-11 05:51:10 -0600

RamAlien
23 ●3 ●4 ●7

updated 2013-09-11 06:30:34 -0600

Thanks a lot for your feedback: On comparing the initial few lines consisting of D,K,R an P should not be present. If it starts with ost version its correct.

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answered 2013-09-11 00:16:39 -0600

RamAlien
23 ●3 ●4 ●7

updated 2013-09-11 05:46:21 -0600

Hi,

Thanks for your answer. The question was based on the second link.

I copied the output and saved it as .ini file as suggested. When I try to :

rosrun camera_calibration_parsers convert calibration.ini calibration.yml

It throws me: I am not sure what does it mean by camera model. Is something missing ?

 D =  [-0.014068252803079058, 0.09765723336090223, 0.0016727251024652406, 0.0011857657616042958, 0.0]
K =  [647.9408898308614, 0.0, 322.30166498603154, 0.0, 647.8185078156599, 264.9810384915591, 0.0, 0.0, 1.0]
R =  [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P =  [652.689697265625, 0.0, 322.3815322161536, 0.0, 0.0, 652.4700317382812, 264.7292386570698, 0.0, 0.0, 0.0, 1.0, 0.0]
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/left]

camera matrix
647.940890 0.000000 322.301665
0.000000 647.818508 264.981038
0.000000 0.000000 1.000000

distortion
-0.014068 0.097657 0.001673 0.001186 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
652.689697 0.000000 322.381532 0.000000
0.000000 652.470032 264.729239 0.000000
0.000000 0.000000 1.000000 0.000000