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camera_calibration_file_para.txt
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camera_calibration_file_para.txt
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From ROS:
image_width: 640
image_height: 480
camera_name: camera
camera_matrix:
rows:3
cols: 3
data: [322.0704122808738, 0, 199.2680620421962,
0, 320.86739861544, 155.2533082600705,
0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [0.1639958233797625, -0.271840030972792, 0.001055841660100477, -0.00166555973740089, 0]
rectification_matrix:
rows: 3
cols: 3
data; [1, 0, 0,
0, 1, 0,
0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [329.2483825683594, 0, 198.4101510452074, 0,
0, 329.1044006347656, 155.5057121208347, 0,
0, 0, 1, 0]
From Matlab calibration:
use 23rd no. rotation matrix to get the world coordinates which is:.
[x,
-y]
Therefore, rotation matrix:
col: 3
rows: 3
data: [ 0.9991 -0.0061 0.0423
0.0040 0.9987 0.0507
-0.0425 -0.0505 0.9978]
the actual world coordinates are:
[y,
z]
Therefore, the mapping of matlab output to the actual world is:
[y, = [x,
z] -y]
try to get last value i.e. x coordinate of the real world through
different sensor or do some estimation calculations to get it.
Similarly, for translation vectors:
[14.6270152877568 -42.7098397511075 365.952159941607]