58 lines
3.3 KiB
XML
58 lines
3.3 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<StereoCalibration version="1.0">
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<Meta>
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<Name>标定_20251204_190935</Name>
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<Timestamp>2025-12-04T19:09:35</Timestamp>
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<ImageCount>16</ImageCount>
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<ImagePath>D:/BinocularCamCalibImg/chessboard_deg13</ImagePath>
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<Valid>true</Valid>
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</Meta>
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<Pattern>
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<Type>0</Type>
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<TypeName>Chessboard</TypeName>
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<Unit>0</Unit>
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<UnitName>mm</UnitName>
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<Rows>11</Rows>
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<Cols>8</Cols>
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<SquareSize>40</SquareSize>
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<CircleSpacing>20</CircleSpacing>
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<CircleDiameter>10</CircleDiameter>
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<MarkerDictionary>0</MarkerDictionary>
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<MarkerLength>30</MarkerLength>
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<MarkerSeparation>10</MarkerSeparation>
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<IsChArUco>false</IsChArUco>
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<CharucoSquareLength>40</CharucoSquareLength>
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</Pattern>
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<LeftCamera>
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<RMS>0.06146430978</RMS>
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<Valid>true</Valid>
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<ImageWidth>4504</ImageWidth>
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<ImageHeight>4096</ImageHeight>
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<CameraMatrix rows="3" cols="3">4999.017674094238,0,2250.300598868841,0,4999.264966915443,2060.093794884652,0,0,1</CameraMatrix>
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<DistCoeffs rows="5" cols="1">-0.08489310178734437,0.08964236499982539,-4.389392288741819e-05,-0.0002227984524448615,0</DistCoeffs>
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</LeftCamera>
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<RightCamera>
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<RMS>0.06217309213</RMS>
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<Valid>true</Valid>
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<ImageWidth>4504</ImageWidth>
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<ImageHeight>4096</ImageHeight>
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<CameraMatrix rows="3" cols="3">4992.951845199774,0,2287.939849021047,0,4993.710759765725,2079.376780201305,0,0,1</CameraMatrix>
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<DistCoeffs rows="5" cols="1">-0.08228116868058684,0.08103473937956641,0.0001915425595540736,0.0002891358523536006,0</DistCoeffs>
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</RightCamera>
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<Stereo>
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<RMS>0.1603139252</RMS>
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<Baseline>769.5892579</Baseline>
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<R rows="3" cols="3">0.9322109350774885,0.01932513268084685,0.3613991031654922,-0.01133689914678807,0.9996425865176145,-0.02421102926579374,-0.3617378156064002,0.01847264104672718,0.9320968374010657</R>
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<T rows="3" cols="1">-757.6654235863944,4.918948081748063,134.8574643798533</T>
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<E rows="3" cols="3">-0.2505040613068761,-134.718398541642,7.849973967148773,-148.3606323169181,16.60221979557121,754.9549118150683,4.004079303323432,-757.4896830731973,16.56615631886883</E>
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<F rows="3" cols="3">2.418342063864832e-10,1.300494101930773e-07,-0.0003063421843195674,1.432041578875006e-07,-1.602439449329651e-08,-0.003932101974551648,-0.0003176289560551479,0.003386806984800907,1</F>
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</Stereo>
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<Rectification>
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<R1 rows="3" cols="3">0.9812283571586967,0.009399327302279969,0.1926202579011606,-0.00728629653304425,0.9999052931083844,-0.01167538850182497,-0.1927117562331825,0.01005273396149594,0.9812039143569606</R1>
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<R2 rows="3" cols="3">0.9845062360556691,-0.006391653770329639,-0.1752330389212585,0.008311462219611297,0.9999131906571748,0.0102240278540578,0.1751524786101271,-0.01152206196254848,0.9844738957051427</R2>
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<P1 rows="3" cols="4">4996.487863340584,0,2214.277709960938,0,0,4996.487863340584,2076.116622924805,0,0,0,1,0</P1>
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<P2 rows="3" cols="4">4996.487863340584,0,2214.277709960938,-3845243.386765275,0,4996.487863340584,2076.116622924805,0,0,0,1,0</P2>
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<Q rows="4" cols="4">1,0,0,-2214.277709960938,0,1,0,-2076.116622924805,0,0,0,4996.487863340584,0,0,0.001299394436393211,0</Q>
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</Rectification>
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</StereoCalibration>
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