[U] [u - u0] [u_0] [V] = [v - v0] * (1 + k_1*r^2) + [v_0], r^2 = (u - u_0)^2 + (v - v_0)^2where [U,V] are image coordinates (in pixels) after radial distortion.
Each of the R,G,B channels of the three-chip color camera are calibrated separately.
black and white | RGB color | ||||||
---|---|---|---|---|---|---|---|
Projection Matrix | camera 1 | camera 2 | camera 3 | camera 4 | R | G | B |
Distortion Coef. | -1.06e-07 | -1.06e-07 | -8.77e-08 | -8.37e-08 | -9.62e-08 | -9.54e-08 | -9.02e-08 |
3D points are reconstructed in this "stereo-rig coordinate frame" and then transformed by the registration transformation (a rigid motion).
A point xi in coordinate frame Fi is transformed to point xi+1 in coordinate frame Fi+1 by a translation t followed by a rotation R:
The mapping is represented by a 3x4 matrix T = [R | t].
Scan a | Scan b | Scan c | Scan d | Scan e | Scan f | Scan g | Scan h | |
---|---|---|---|---|---|---|---|---|
Segment A | 0, 1, 2, 3 | 1, 2 | 1, 2, 3 | 2, 3, 4 | 2, 3 | 1, 2 | 2, 3 | 3, 4 |
Segment B | ||||||||
Segment C | 0, 1, 2, 3 | 1, 2 | 1, 2, 3 | 2, 3, 4 | 2, 3 | 1, 2 | 2, 3 | 3, 4 |
Segment D |
Segment A | Segment B | Segment C | Segment D |