About the came intrinsic prameter

[gbdpf]

I have downloaded the data of Euroc in zip format, and there is several yaml files. But I found that the camera parameters are different with parameters in euroc_config.yaml. Here are the camera intrinsic parameter in sensor.yaml about cam0:

• intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
• distortion_model: radial-tangential
• distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]

But in euroc_config.yaml, they are: distortion_parameters:

• k1: -2.917e-01
• k2: 8.228e-02
• p1: 5.333e-05

• p2: -1.578e-04

  projection_parameters:

• fx: 4.616e+02
• fy: 4.603e+02
• cx: 3.630e+02

• cy: 2.481e+02

  Why are they different?

[yeukfu]

I also found the difference. What is strange is that with parameters in euroc_config.yaml I got more precise estimation output.

[AIgithub22]

the parameters in euroc_config.yaml is calibrated by Kalibr witch is the calibration tools vinsmono recommended.

[XiaoxingChen]

the parameters in euroc_config.yaml is calibrated by Kalibr witch is the calibration tools vinsmono recommended.

EuroC and Kalibr are both released by ETHZ-ASL, I don't think the senser.yaml from EuroC was calibrated by tools other than Kalibr.