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BluEye-Robotics / blueye.sdk

A Python package for remote control of Blueye underwater drones.
GNU Lesser General Public License v3.0
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Document camera matrix #36

Open sindrehan opened 5 years ago

sindrehan commented 5 years ago

We should document the camera matrix. Here's the matrix that @JohanKvalberg found in his master thesis:


# --- Calibration
# -- Blueye --
# Camera matrix:
mtx = np.array([[1.35445761E+03,    0.00000000E+00,        8.91069717E+02],
                [0.00000000E+00,    1.37997405E+03,        7.56192877E+02],
                [0.00000000E+00,    0.00000000E+00,        1.00000000E+00]])
# Distortion coefficients
dist = np.array([-0.2708139, 0.20052465, 2.08302E-02, 0.0002806, -0.10134601])

# -- Blueye in-air --
# Camera matrix:
#mtx = np.array([[978.36617202, 0., 985.08473535],
#                [0., 975.69987506, 541.52130078],
#                [0., 0., 1.]])

# Distortion coefficients
#dist = np.array([-0.37370139, 0.26899755, -0.00120655, -0.00185788, -0.1411856])```