Table 5 Relevant parameters of the camera.

From: Design of tomato picking robot detection and localization system based on deep learning neural networks algorithm of Yolov5

Parameters

Left camera

Right camera

Focal length

\(\left[1125.14, 1121.78\right]\)

\(\left[1127.49, 1123.80\right]\)

InternalReference Matrix

\(\left[\begin{array}{ccc}1125.14& 0& 0\\ -1.974& 1121.78& 0\\ 672.17& 395.83& 1\end{array}\right]\)

\(\left[\begin{array}{ccc}1127.49& 0& 0\\ -1.97& 1123.80& 0\\ 647.62& 364.68& 1\end{array}\right]\)

Distortion factor

\([-0.02, 0.23, -\text{1.02,0.0006,0.0}]\)

\([-0.023, 0.214, -0.703, -\text{0.00056,0.0}]\)

Main light point

\([672.17, 395.83]\)

\([647.62, 364.68]\)

Rotation matrix R

\(\left[\begin{array}{ccc}1& -0.00005& 0.0007\\ 0.00006& 1& -0.0039\\ -0.0007& 0.0039& 1\end{array}\right]\)

The translation matrix T

\([-56.13, -0.15, 1.07]\)

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