The grasping experimental platform hardware includes:Depth camera, computer, robotic arm, and storage table
The calibration process involves four coordinate systems:World coordinate system, image pixel coordinate system, image physical coordinate system, and camera coordinate system.
- Camera internal parameters: from camera coordinate system to image coordinate system
- Camera external parameters: from world coordinate system to camera coordinate system
16 parameters of the camera:
10 camera intrinsic parameters (only related to the camera itself):
- 5 internal matrix parameters K: focal length, pixel length, pixel width, principal point coordinates in the image coordinate system
- 5 distortion parameters D: three radial distortion parameters and two tangential distortion parameters
6 camera external parameters (the position of the camera in the world coordinate system): 3 translation parameters T, 3 rotation parameters R
1.Camera calibration
Camera calibration is the process of obtaining the camera's position information and internal parameter information from spatial points and their corresponding pixels. The coordinate information is obtained through three-dimensional space mapping to determine the internal parameters of the camera, that is, internal parameter calibration.
The calibration process involves four coordinate systems: world coordinate system, image pixel coordinate system, image physical coordinate system, and camera coordinate system.