search

Dtananaev / CarlaFSD

MIT License
15 stars 2 forks source link

How Can I set the values of K0 K1 K2 K3 K4 #5

Closed Haobo-Liu closed 2 months ago

Haobo-Liu commented 2 months ago

Thanks to your wonderful work! could you tell me the meanings of K0,K1,K2,K3,K4? And wheter K0 is always equal to value 1.0 or not? Thanks again.

Dtananaev commented 2 months ago

Hi, k0: radial distortion first coefficient k1: radial distortion second coefficient k2: tangential distortion (decentering distortion) first coefficient k3: tangential distortion (decentering distortion) second coefficient k4: radial distortion third coefficient The difference between radial and tangential distortion explained here: https://medium.com/@d.d.tananaev/unleashing-the-power-of-fish-eye-cameras-in-carla-simulator-abb7ab5bc147

For real camera you want to simulate, you first need to do calibration to get the values of the coefficients K0,K1,K2,K3,K4. The calibration process if interest explained here: https://youtu.be/-9He7Nu3u8s?si=SJCzBndLRTL4Qvt6

If you don't have any distortions with this coefficients simply make all of them zero by default.

Haobo-Liu commented 2 months ago

Thanks a lot

Haobo-Liu commented 2 months ago

Hello,How can I get the intrinsic matrix values of the fisheye camera? I appreciate it a lot.