Calibration

This page shall help to define a calibration procedure. Please add your knowledge.

Things to calibrate

• nonlinear effects for both cameras:
  • radial distortion On Wikipedia
  • tangential distortion (sensor chip not parallel)
  • rotational errors (sensor rotated on image plane)
• Intrinsics matrix for both: Video camera & Depth Camera
• Extrinsics matrix for both: Video camera & Depth Camera
• Registration of both cameras (Registration as meant in This Article, please add a nicer description, if you know one)
  • Rotational tolerances
  • ?

Questions to answer

• Which parameters change much between different devices?
• Which change minor (and can possibly be set constant)?
• Are routines to calculate parameters needed, or could a seperate application be used (based on OpenCV, for example)

Links

• Calibration based on libfreenect and rgbdemo (Nicolas Burrus):
  • http://nicolas.burrus.name/index.php/Research/KinectRgbDemo
  • http://nicolas.burrus.name/index.php/Research/KinectCalibration
• About Xbox calibration
• ROS' Technical description of Kinect calibration