Libraries

YARP OpenCV (version >= 2.0) spmap (icub library)

We have enabled changes of the image saturation directly from the rpc port (see port description). This has been done (temporary) in order to change the saturation for the bayer images. The command are sent via rpc can be:

sat 1.0 - no changes in saturation
sat x where x is < 1.0 - will decrease saturation until a gray image is obtained
sat x where x is > 1.0 - will increase saturation

Parameters

Command-line Parameters

The following key-value pairs can be specified as command-line parameters by prefixing -- to the key (e.g. --from file.ini. The value part can be changed to suit your needs; the default values are shown below.

--from camcalib.ini
specifies the configuration file
--context cameraCalibration
specifies the sub-path from $ICUB_ROOT/icub/app to the configuration file
--name camcalib
specifies the name of the module (used to form the stem of module port names)
For calibration configuration options see: PinholeCalibTool::configure

Configuration File Parameters

The following key-value pairs can be specified as parameters in the configuration file The value part can be changed to suit your needs; the default values are shown below.

projection pinhole
drawCenterCross 1
w  320
h  240
fx 221.607
fy 221.689
cx 174.29
cy 130.528
k1 -0.397161
k2 0.180303
p1 4.08465e-005
p2 0.000456613

Ports Created

Input port

/camCalib/in
Input image to calibrate (from camera grabber) (rgb)

Output port

/camCalib/out
Calibrated output image (rgb)

Rpc port

/camCalib/conf
Rpc port to change the output image saturation used primarely for the bayer images

Configuration Files

camcalib.ini in $ICUB_ROOT/app/cameraCalibration

Tested OS

Linux: Ubuntu 9.10, Debian Stable, squeeze and windows

Example Instantiation of the Module

camCalib –name /icub/camcalib/left –context cameraCalibration –from icubEyes.ini –group CAMERA_CALIBRATION_LEFT

More information on camera calibration:
OpenCV: http://opencvlibrary.sourceforge.net/CvReference#cv_3d
Matlab Toolbox: http://www.vision.caltech.edu/bouguetj/calib_doc/

See also: CamCalibModule; CalibTool

Author: Lijin Aryananda, Jonas Ruesch