# Stereo camera calibration report
# Generated by kinect-stereo-calib - MRPT at Tue May 13 08:39:50 2014
# (This file is loadable from rawlog-edit and other MRPT tools)
# ---------------------------------------------------------------------

# Left camera (IR/Depth in Kinect) calibration parameters (and 95% confidence intervals):
[CAMERA_PARAMS_LEFT]
resolution = [1024 768]
cx         = 522.434637  // +/- 0.011
cy         = 402.367400  // +/- 0.011
fx         = 837.619011  // +/- 0.051
fy         = 839.808333  // +/- 0.073
dist       = [-3.636834e-001 1.766205e-001 0.000000e+000 0.000000e+000 0.000000e+000]    // The order is: [K1 K2 T1 T2 K3]

# Right camera (RGB in Kinect) calibration parameters  (and 95% confidence intervals):
[CAMERA_PARAMS_RIGHT]
resolution = [1024 768]
cx         = 511.127987  // +/- 0.011
cy         = 388.337888  // +/- 0.011
fx         = 835.542079  // +/- 0.044
fy         = 837.180798  // +/- 0.073
dist       = [-3.508059e-001 1.538358e-001 0.000000e+000 0.000000e+000 0.000000e+000]    // The order is: [K1 K2 T1 T2 K3]

# Relative pose of the right camera wrt to the left camera:
# This assumes that both camera frames are such that +Z points
# forwards, and +X and +Y to the right and downwards.
[CAMERA_PARAMS_LEFT2RIGHT_POSE]
translation_only     = [1.194711e-001 -3.144088e-004 1.423872e-004]
rotation_matrix_only = [9.9997625494747e-001 -6.3729476131001e-003 -2.6220373684323e-003 ;6.3750339453031e-003 9.9997936870410e-001 7.8810427338438e-004 ;2.6169607251553e-003 -8.0480113703670e-004 9.9999625189882e-001 ]
pose_yaw_pitch_roll  = [0.119471 -0.000314 0.000142 0.365266 -0.149941 -0.046112]  // (YPR in degrees)
pose_quaternion      = [0.119471 -0.000314 0.000142 0.999994 -0.000398 -0.001310 0.003187]

# Info about calibration parameters:
[CALIB_METAINFO]
number_good_cheesboards = 25
average_reprojection_error = 0.251078 // RMSE pixels
cheesboard_nx = 6
cheesboard_ny = 9
cheesboard_square_size_x = 0.034000 // (m)
cheesboard_square_size_y = 0.034000 // (m)