ZED相机如何校准

风火轮用户arhuy

Get your Calibration File

The ZED and the ZED mini arestereovision-based depth cameras meaning two cameras, displaced from oneanother are used to obtain two different views of a scene. By comparingthese two images, the relative depth information can be obtained.

The calibration file containsinformation about the precise position of the right and left cameras and theiroptical characteristics. This file is key in the depth estimation process andguarantees its quality.

This file is generated during ourmanufacturing process and is automatically downloaded by the ZED SDK or anyapplication.

Calibrations files are stored inthe following locations and named according to the serial number of the camera:

·    On Windows: C:\ProgramData\Stereolabs\settings

·    On Linux: /usr/local/zed/settings/

·    On Windows (SDK ≤ 2.2.0):C:\Users\YOUR_USER_NAME\AppData\Roaming\Stereolabs\settings\

You can also download it manuallyby following these instructions: 链接：https://pan.baidu.com/s/1XeiAngrHvoSu0FZ1sh7j_A?pwd=4mvd

提取码：4mvd

When using the ZED SDK, you canaccess these parameters from getCameraInformation(). This returns theparameters from the file* (named raw), along with the parameters ofthe rectified images.

* By default, aself-calibration runs at each camera initialization to optimize the parametersfrom the file. The returned parameters are the optimized one which willbe used by the SDK.

Sensors Parameters

The ZED calibration file containsintrinsic parameters for both left and right sensors at each resolution.Here is an example:

[LEFT_CAM_HD]

fx=700.819

fy=700.819

cx=665.465

cy=371.953

k1=-0.174318

k2=0.0261121

·    fx and fy are the focal length in pixels.

·    cx and cy are the optical centercoordinates in pixels.

·    k1 and k2 are distortion parameters.

These data are matching the pinhole camera model.（提醒：访问外网需要用梯子）

Stereo Parameters

The stereo parameters, alsocalled extrinsic parameters, represent the relation between the left andright sensors. More precisely, the position of the right sensor from the leftsensor with the center of rotation being the right sensor itself.

[STEREO]

Baseline=120

CV_2K=0.00958521

CV_FHD=0.00958521

CV_HD=0.00958521

CV_VGA=0.00958521

RX_2K=0.00497864

RX_FHD=0.00497864

RX_HD=0.00497864

RX_VGA=0.00497864

RZ_2K=-0.00185401

RZ_FHD=-0.00185401

RZ_HD=-0.00185401

RZ_VGA=-0.00185401

·    Baseline is the distance between the optics in mm(120 for the ZED and 63 for the ZED Mini)

·    CV_*** also called RY_*** measures theoptical convergence.

·    RX_*** and RZ_*** are the other rotationaxis describing the transformation between both sensors. Rotations are representedin the Rodrigues notation.