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<?xml version="1.0"?>
<root>
<!--This file stores intrinsic camera parameters used
in the vpCameraParameters Class of ViSP available
at https://visp.inria.fr/download/ .
It can be read with the parse method of
the vpXmlParserCamera class.-->
<camera>
<!--Name of the camera-->
<name>Camera</name>
<!--Size of the image on which camera calibration was performed-->
<image_width>640</image_width>
<image_height>480</image_height>
<!--Intrinsic camera parameters computed for each projection model-->
<model>
<!--Projection model type-->
<type>perspectiveProjWithoutDistortion</type>
<!--Pixel ratio-->
<px>557.25193286403885</px>
<py>561.17762050162196</py>
<!--Principal point-->
<u0>360.07544847291069</u0>
<v0>235.52403615842633</v0>
</model>
<model>
<!--Projection model type-->
<type>perspectiveProjWithDistortion</type>
<!--Pixel ratio-->
<px>536.98240404421483</px>
<py>537.41963884658458</py>
<!--Principal point-->
<u0>344.0958214339521</u0>
<v0>235.17921083438051</v0>
<!--Undistorted to distorted distortion parameter-->
<kud>-0.26726720925264602</kud>
<!--Distorted to undistorted distortion parameter-->
<kdu>0.30810929494420369</kdu>
</model>
<!--Additional information-->
<additional_information>
<date>2020/05/13 09:43:08</date>
<nb_calibration_images>13</nb_calibration_images>
<calibration_pattern_type>Chessboard</calibration_pattern_type>
<board_size>9x6</board_size>
<square_size>0.025</square_size>
<global_reprojection_error>
<without_distortion>1.5527</without_distortion>
<with_distortion>0.433877</with_distortion>
</global_reprojection_error>
<camera_poses>
<cMo>-0.08850223516 -0.1086282928 0.4229664739 0.1408148834 0.2208825139 0.01502620077</cMo>
<cMo>-0.0703893396 0.0818506632 0.3685969228 0.4481987529 0.6289692744 -1.325252371</cMo>
<cMo>-0.05106835243 -0.1002923967 0.3364951342 -0.2914267877 0.1238943087 0.3477209481</cMo>
<cMo>-0.1087948173 -0.06700495539 0.3494400057 -0.1205391867 0.223830671 -0.003284578913</cMo>
<cMo>0.04784842307 -0.1140492763 0.3392093484 -0.3330991985 0.4097005013 1.304213481</cMo>
<cMo>0.1601394566 -0.06516036274 0.3815814566 0.3204844273 0.2266595564 1.667096026</cMo>
<cMo>0.005077897449 -0.07169336519 0.4152049822 0.1986343085 0.3349008677 1.86914098</cMo>
<cMo>0.06855693345 -0.08758534426 0.3404629944 -0.1268998306 0.4635097232 1.748447256</cMo>
<cMo>-0.0762200123 -0.08105378884 0.2981656585 0.1987648126 -0.4487980655 0.1354283728</cMo>
<cMo>0.03583506159 -0.1108798097 0.3613647783 -0.4314036419 -0.5113333191 1.333680357</cMo>
<cMo>0.04012722676 -0.1020989758 0.3445010683 -0.2662313574 0.3443459833 1.522239766</cMo>
<cMo>0.02396508275 -0.09099501737 0.3112595412 0.4529442017 -0.319353983 1.24556961</cMo>
<cMo>0.03473014005 -0.1079547768 0.3347255812 -0.1718323431 -0.4813857385 1.348284083</cMo>
<cMo_dist>-0.07660266271 -0.1085728703 0.4003484889 0.1682345774 0.2703219136 0.01344238413</cMo_dist>
<cMo_dist>-0.0597725773 0.08323149726 0.3540361653 0.4146214603 0.6466739629 -1.33632262</cMo_dist>
<cMo_dist>-0.0409369733 -0.1000680319 0.3187341271 -0.2814821404 0.181607087 0.354472929</cMo_dist>
<cMo_dist>-0.09952644787 -0.06700101163 0.3311921983 -0.1147265218 0.2351468125 -0.002270637719</cMo_dist>
<cMo_dist>0.05741410545 -0.1148693995 0.3181348172 -0.2976648906 0.4269115417 1.311802711</cMo_dist>
<cMo_dist>0.1661888244 -0.06524589624 0.338088106 0.4034420756 0.3039782719 1.64940724</cMo_dist>
<cMo_dist>0.01821370536 -0.07151589851 0.3905543438 0.172544729 0.3466769676 1.86809415</cMo_dist>
<cMo_dist>0.07798259969 -0.08758717052 0.3176589755 -0.09716654268 0.4802856194 1.752367718</cMo_dist>
<cMo_dist>-0.06737515848 -0.08078390458 0.2789852517 0.2019376892 -0.4259504159 0.1328986678</cMo_dist>
<cMo_dist>0.04573124363 -0.1106681366 0.3391361625 -0.422722622 -0.5001185984 1.335604951</cMo_dist>
<cMo_dist>0.04966729888 -0.1021952921 0.3230817897 -0.244202703 0.3486826514 1.529624327</cMo_dist>
<cMo_dist>0.0326829825 -0.09134603223 0.2922525995 0.4616839947 -0.2854700243 1.239441135</cMo_dist>
<cMo_dist>0.04392199094 -0.1078950481 0.3135404232 -0.1733990329 -0.4713258735 1.346433873</cMo_dist>
</camera_poses>
</additional_information>
</camera>
</root>
|
