Kinect calibration
This page refers to the calibration of the intrinsic parameters of both Kinect cameras (RGB and IR), plus the accurate determination of the relative 6D pose between them.
The interactive GUI application kinect-stereo-calib makes it really easy to calibrate a Kinect sensor with a checkerboard, either live or from already grabbed images. See the following video for a demonstration:
Next follows an example calibration file, loadable by the class mrpt::hwdrivers::CKinect (the prefix "CAMERA_" in all the section names can be changed to anything else):
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# Calibration file # --------------------------------------------------------- # Left camera (IR/Depth in Kinect) calibration parameters [CAMERA_PARAMS_LEFT] resolution = [640 488] cx = 314.649173 cy = 240.160459 fx = 572.882768 fy = 542.739980 dist = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3] # Right camera (RGB in Kinect) calibration parameters [CAMERA_PARAMS_RIGHT] resolution = [640 480] cx = 322.515987 cy = 259.055966 fx = 521.179233 fy = 493.033034 dist = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3] # Relative pose of the right camera wrt to the left camera: # This assumes that both camera frames are such that +Z points # forwards, and +X and +Y to the right and downwards. [CAMERA_PARAMS_LEFT2RIGHT_POSE] pose_quaternion = [0.025575 -0.000609 -0.001462 0.999987 0.002038 0.004335 -0.001693] # --------------------------------------------------------- |