Table 1 Calibration parameters of binocular camera in air.
From: Research on underwater robot ranging technology based on semantic segmentation and binocular vision
Argument | Left camera | Right camera | ||||
|---|---|---|---|---|---|---|
Internal parameter matrix | 634.1084 | 1.1661 | 401.3114 | 635.3628 | 1.0953 | 388.3334 |
0 | 631.9197 | 305.6509 | 0 | 633.1738 | 299.6141 | |
0 | 0 | 1 | 0 | 0 | 1 | |
Radial distortion | − 0.0724 | 0.4413 | − 0.6813 | − 0.0684 | 0.3424 | − 0.4191 |
Tangential distortion | 0 | 0 | 0 | 0 | ||
Rotation matrix | 1 | 0.0015 | − 0.0036 | |||
− 0.0014 | 0.9999 | 0.0110 | ||||
0.0036 | − 0.0110 | 0.9999 | ||||
Translation vector | − 59.2796 | − 0.2593 | 1.1542 | |||
