User manual

Small Vision System User Manual 31
Tx -89.458214 # translation between left and right cameras
Ty -0.277252
Tz -0.923279
Rx -0.008051 # rotation between left and right cameras
Ry -0.003771
Rz -0.000458
[left camera]
pwidth 1280 # number of pixels in the camera
pheight 960
dpx 0.007500 # pixel spacing, mm
dpy 0.007500
sx 1.000000 # aspect ratio
Cx 582.260123 # camera center, pixels
Cy 506.081223
f 7.798704 # focal length, mm
kappa1 0.002983 # radial distortion parameters
kappa2 -0.000040
proj # projection matrix: from left camera 3D coords
# to left rectified coordinates
1.041674e+003 6.177793e+000 5.666963e+002 0.000000e+000
-6.957139e+000 1.042596e+003 5.022628e+002 0.000000e+000
-6.576823e-003 -3.900478e-005 1.000000e+000 0.000000e+000
rect # rectification matrix for left camera
1.001883e+000 -5.935817e-003 1.956143e+001
6.693463e-003 1.000873e+000 1.397722e+000
6.313708e-006 1.844243e-015 1.000000e+000
[right camera]
pwidth 1280 # number of pixels in the camera
pheight 960
dpx 0.007500 # pixel spacing, mm
dpy 0.007500
sx 1.000000 # aspect ratio
Cx 548.992956 # camera center, pixels
Cy 495.924832
f 7.834438 # focal length, mm
kappa1 0.002722 # radial distortion parameters
kappa2 -0.000021
proj # projection matrix: from right camera 3D coords
# to right rectified coordinates
1.041674e+003 6.177795e+000 5.666964e+002 -9.352453e+004
-6.957140e+000 1.042596e+003 5.022628e+002 4.191134e-004
-6.576824e-003 -3.900531e-005 1.000000e+000 -9.225858e-005
rect # rectification matrix for right camera
1.006349e+000 -9.720995e-003 -1.942293e+001
8.006440e-003 9.997475e-001 -1.474720e+000
9.887915e-006 -7.757015e-006 1.000000e+000