尝试进行Kinect2.0相机进行标定
1. Color镜头标定
$(u_{rgb},v_{rgb},1)=W_{rgb}*(x,y,z)$
Calibration results after optimization (with uncertainties):
Focal Length: fc= [1094.03583 1087.37528] +/- [55.02816 51.42175]Principal point: cc= [942.00992 530.35240] +/- [13.00131 31.27892]Skew: alpha_c= [0.00000] +/- [0.00000] => angle of pixel axes = 90.00000 +/- 0.00000degrees
Distortion: kc= [0.06857 -0.10542 0.00233 0.00092 0.00000] +/- [0.02206 0.02884 0.00379 0.00492 0.00000]Pixel error: err= [0.49343 0.67737]
2. 红外镜头标定
$(u_{ir},v_{ir},1)=W_{ir}*(x,y,z)$
Calibration results after optimization (with uncertainties):
Focal Length: fc= [379.40726 378.54472] +/- [40.73354 34.75290]Principal point: cc= [263.73696 201.72450] +/- [9.17740 30.29723]Skew: alpha_c= [0.00000] +/- [0.00000] => angle of pixel axes