CS 791 Programming Assignment # 3



by Beifang Yi



4/13/03


The calibration problem:  for description of this problem(see  programming assignment # 3).



Direct Camera Calibration (using OpenCV's routines).


The code:


Usage:


[b_yi@chicken prg3]$ ./calibration 1 3 5 7 9

 input file number for accuracy test ?  5
accuracy error:  97.1017

 input file number for projection test ?  10
projection error :  125.508


Results:


1. When using images 01, 03, 05, 07, 09:
Extrinsic Parameters: rotation matrix:
0.685203  0.033461  -0.727583
-0.108544  -0.983098  -0.147433
-0.720219  0.179996  -0.66999
Extrinsic Parameters: translation vector:
-164.661
94.392
724.197
Intrinsic Parameters:
731.056  0  325.737
0  734.467  246.272
0  0  1
 

Extrinsic Parameters: rotation matrix:
0.999711  0.000843717  -0.0240213
-0.0113629  -0.864067  -0.503249
-0.0211806  0.503376  -0.863808
Extrinsic Parameters: translation vector:
-159.31
78.8653
576.958



   
2. When using images 01, 02, 03, 04, 05, 06, 07, 08, 09:
Extrinsic Parameters: rotation matrix:
0.920533  -0.0161807  0.390329
0.0540686  -0.984249  -0.168314
0.386905  0.176043  -0.905159
Extrinsic Parameters: translation vector:
-142.245
69.0835
553.8
Intrinsic Parameters:
732.631  0  324.235
0  735.863  245.581
0  0  1




Extrinsic Parameters: rotation matrix:
0.981816  -0.162489  0.0981578
-0.186909  -0.917877  0.350096
0.03321  -0.362076  -0.931557
Extrinsic Parameters: translation vector:
-132.026
77.2353
702.764








Camera Calibration Using the Projection Matrix

Please see the member functions  projMatInit()  and projMatCalibration().  Because of lack of 3D object data file and corresponding image data file, no results can be obtained.