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Difference between revisions of "Calibration"
From OpenKinect
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===Things to calibrate=== | ===Things to calibrate=== | ||
*nonlinear effects for both cameras: | *nonlinear effects for both cameras: | ||
| − | **radial distortion | + | **radial distortion [[wikipedia:Distortion (optics)#Radial distortion|On Wikipedia]] |
**tangential distortion (sensor chip not parallel) | **tangential distortion (sensor chip not parallel) | ||
**rotational errors (sensor rotated on image plane) | **rotational errors (sensor rotated on image plane) | ||
*Intrinsics matrix for both: Video camera & Depth Camera | *Intrinsics matrix for both: Video camera & Depth Camera | ||
*Extrinsics 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) | + | *Registration of both cameras (Registration as meant in [http://www.jvrb.org/archiv/2437/ This Article], please add a nicer description, if you know one) |
**Rotational tolerances | **Rotational tolerances | ||
**? | **? | ||
| Line 16: | Line 16: | ||
* Which change minor (and can possibly be set constant)? | * 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) | * Are routines to calculate parameters needed, or could a seperate application be used (based on OpenCV, for example) | ||
| − | + | * | |
===Links=== | ===Links=== | ||
| − | * | + | * Calibration based on libfreenect and rgbdemo (Nicolas Burrus): |
| − | * | + | ** http://nicolas.burrus.name/index.php/Research/KinectRgbDemo |
| − | * [http://www. | + | ** http://nicolas.burrus.name/index.php/Research/KinectCalibration |
| − | * [http://www. | + | * Calibration using planes as features (Daniel Herrera C.): http://www.ee.oulu.fi/~dherrera/kinect/ |
| − | * [http:// | + | * [http://www.xboxgaming.co.za/news/the-secret-of-kinects-calibration-revealed/ About Xbox calibration] |
| + | * [http://www.ros.org/wiki/kinect_calibration/technical ROS' Technical description of Kinect calibration] | ||
| + | * [http://ros-users.122217.n3.nabble.com/Kinect-RGB-D-Calibration-td1914673.html ROS MailingList regarding calibration pattern] | ||
Revision as of 17:17, 5 January 2013
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):
- Calibration using planes as features (Daniel Herrera C.): http://www.ee.oulu.fi/~dherrera/kinect/
- About Xbox calibration
- ROS' Technical description of Kinect calibration
- ROS MailingList regarding calibration pattern
