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Camera image calibration module. More...

+ Collaboration diagram for camCalib:

Camera image calibration module.

Libraries

YARP OpenCV (version >= 2.0) spmap (icub library)

We have enabled changes of the image saturation directly from the rpc port (see port description). This has been done (temporary) in order to change the saturation for the bayer images. The command are sent via rpc can be:

Parameters

Command-line Parameters

The following key-value pairs can be specified as command-line parameters by prefixing to the key (e.g. –from file.ini. The value part can be changed to suit your needs; the default values are shown below.

Configuration File Parameters

The following key-value pairs can be specified as parameters in the configuration file The value part can be changed to suit your needs; the default values are shown below.

projection pinhole
drawCenterCross 1
w  320
h  240
fx 221.607
fy 221.689
cx 174.29
cy 130.528
k1 -0.397161
k2 0.180303
p1 4.08465e-005
p2 0.000456613
 

Ports Created

Input port

Output port

Rpc port

Configuration Files

camcalib.ini in $ICUB_ROOT/app/cameraCalibration

Tested OS

Linux: Ubuntu 9.10, Debian Stable, squeeze and windows

Example Instantiation of the Module

camCalib –name /icub/camcalib/left –context cameraCalibration –from icubEyes.ini –group CAMERA_CALIBRATION_LEFT

More information on camera calibration:
OpenCV: http://opencvlibrary.sourceforge.net/CvReference#cv_3d
Matlab Toolbox: http://www.vision.caltech.edu/bouguetj/calib_doc/

See also
CamCalibModule
CalibTool
Author
Lijin Aryananda, Jonas Ruesch