# DLR-RMC camera calibration file by DLR CalLab.
# Parameters for describing the geometry of pinhole images.
# Created: Thu Apr 16 07:57:05 2015
# 
# NOTE:
# This file defines the parameters of one camera or multiple cameras.
# In the case of multiple cameras, "camera." becomes "camera.<id>.".
# The keys of parameters of the left and right cameras of a stereo
# system would start with "camera.0." and "camera.1." respectively.

# Version number of the parameter file.

version=2

# Image coordinate origin at the center of the upper-left pixel (center)
# or at the upper-left corner of the upper-left pixel (corner).

origin=center

# The extrinsic parameters describe the transformation of a point Pc in the
# camera coordinate system into a point Pw in the world coordinate system,
# e.g. the tool-center-point frame at the top of a robotic manipulator.
# NOTE: This is inverse to OpenCV.
#
# Pw = R*Pc + T
#
# Default: [1 0 0; 0 1 0; 0 0 1] [0 0 0]

camera.0.R=[ -0.999893 -0.0118413 -0.00864175; 0.00867270 -0.00256487 -0.999959; 0.0118187 -0.999927 0.00266729]
camera.0.T=[ -76.1022 -57.1832 141.168]

# The point Pc in the camera coordinate system is projected and transformed
# into distored coordinates [u v]. All parameters are used in the same way as
# in OpenCV.
#
# Pc = [X Y Z]^T with Z > 0
# x = X/Z
# y = Y/Z
#
# r2 = x2 + y2
# u = x*(1 + k1*r2 + k2*r4 + k3*r6) + 2*p1*x*y + p2*(r2+2*x2)
# v = y*(1 + k1*r2 + k2*r4 + k3*r6) + p1*(r2+2*y2) + 2*p2*x*y
#
# Default: 0 for all parameters that are not given

camera.0.k1= -0.191755
camera.0.k2= 0.156979

# The linear intrinsic parameters are given as matrix:
#
# A=[fx skew principal_x; 0 fy principal_y; 0 0 1]
#
# [i k 1]^T = A*[u v 1]^T

camera.0.A=[ 725.107 1.58387 391.125; 0.00000 724.660 270.606; 0.00000 0.00000 1.00000]

# Image size in pixel

camera.0.width= 780
camera.0.height= 582


# Next: camera.1.

# The extrinsic parameters describe the transformation of a point Pc in the
# camera coordinate system into a point Pw in the world coordinate system,
# e.g. the tool-center-point frame at the top of a robotic manipulator.
# NOTE: This is inverse to OpenCV.
#
# Pw = R*Pc + T
#
# Default: [1 0 0; 0 1 0; 0 0 1] [0 0 0]

camera.1.R=[ -0.999899 -0.000564419 0.0142186; -0.0142192 0.000947575 -0.999898; 0.000550887 -0.999999 -0.000955505]
camera.1.T=[ -15.7324 -56.3064 140.756]

# With respect to camera.0 the transformation reads
# camera.0_R_camera.1=[ 0.999674 -0.0112460 -0.0229002; 0.0113257 0.999930 0.00335168; 0.0228609 -0.00360995 0.999732]
# camera.0_T_camera.1=[ -60.3606 -0.305207 -1.39953]

# NOTE THAT when using stereo cameras, the rotation matrix R between
# cameras is similar to inv(R) so that your code could still work,
# even if the inverted rotation is used by mistake.  E.g. OpenCV's
# rectification functions require inv(R) and T.
# camera.1_R_camera.0=[ 0.999675 0.0113257 0.0228609; -0.0112460 0.999930 -0.00360995; -0.0229002 0.00335168 0.999732]

# The point Pc in the camera coordinate system is projected and transformed
# into distored coordinates [u v]. All parameters are used in the same way as
# in OpenCV.
#
# Pc = [X Y Z]^T with Z > 0
# x = X/Z
# y = Y/Z
#
# r2 = x2 + y2
# u = x*(1 + k1*r2 + k2*r4 + k3*r6) + 2*p1*x*y + p2*(r2+2*x2)
# v = y*(1 + k1*r2 + k2*r4 + k3*r6) + p1*(r2+2*y2) + 2*p2*x*y
#
# Default: 0 for all parameters that are not given

camera.1.k1= -0.193231
camera.1.k2= 0.191304

# The linear intrinsic parameters are given as matrix:
#
# A=[fx skew principal_x; 0 fy principal_y; 0 0 1]
#
# [i k 1]^T = A*[u v 1]^T

camera.1.A=[ 727.082 0.146150 388.801; 0.00000 726.947 272.886; 0.00000 0.00000 1.00000]

# Image size in pixel

camera.1.width= 780
camera.1.height= 582

# End of file.