I have a few questions I was hoping you could help with..
How does one obtain F_PX 1570 your output on intrinsic script /01_intrinsics_lens_dist.ipynb shows the left and right output
Is this meant to be the value obtained on the second script "02_calibration_create_rectification.ipynb" if so is it the left value or right value i should take?
Second question you have sensor_full_x_px 3280, and 2464 is this what you're recording with, are your cameras synchronised at the hardware level so you only have video0 and have the frames split in half? Earlier in the calibration you was using
SENSOR_FULL_X_PX = 3280
SENSOR_FULL_Y_PX = 2464
class PARAMS:
SENSOR_FULL_X = 3.68 # mm
SENSOR_FULL_Y = 2.76 # mm
SENSOR_FULL_X_PX = 3280
SENSOR_FULL_Y_PX = 2464
PIXEL_SIZE = SENSOR_FULL_X/3280 # 1.12 um for IMX219
F_PX = 1570 # focal length in pixels
F = F_PX*PIXEL_SIZE
B = 100 # mm (baseline)
Is baseline calculated manually or are you using the T vector?
These are synchronised at the hardware level so i have the frames for example capturing on 2028 W 1520 H but they are then split in half to get the left and right frame
This is the datasheet for my camera imx477
Key Specifications:
– Camarray Stereo Camera HAT
Two MIPI camera inputs and one MIPI camera output
Support 1/2 lane MIPI cameras input up-to 1Gbps/lane
Support 2 lane MIPI output up-to 1Gbps/lane
Support RAW8/RAW10/RAW12 output format, the output format automatically changes with the input format
Support Jetson Native commands for IMX219 cameras with half resolution combine
Support Arducam Jetson cameras up to 16MP with proprietary camera driver with full resolution combine
Support camera side-by-side combine, channel 0 and channel 1 software switching on the fly
HAT Size: 65 x 55 mm
– Camera
Optical Format: 1/2.3″ (diagonal 7.857mm)
Resolution: 4056(H) x 3040(V) 12.3MP
Pixel Size: 1.55um x 1.55um
IR Sensitivity: Visible light
Interface: 4-lane MIPI CSI-2
Default Lens Mount: CS-Mount
Video Modes: L4t 32.x: 4056×3040@10fps, 2028×1529@40fps, 2028×1080@50fps
L4t 35.x: 4056×3040@10fps, 2028×1520@30fps, 2028×1080@30fps
Board Size: 38mm × 38mm
Hole Pitch: Compatible with 29mm, 30mm, 34mm
– Lens
Format: 1/2.3 inch
Focal Length: 6mm
Aperture (F): Max. F1.2
Field of View (FOV): 65° (H)
Mount: CS-Mount
Back Focal Length: 7.53mm
MOD: 0.2m
Dimension: Φ30×31mm
Weight: 53g
Hi,
I hope you're well, nice script for a start!
I have a few questions I was hoping you could help with..
How does one obtain F_PX 1570 your output on intrinsic script /01_intrinsics_lens_dist.ipynb shows the left and right output Is this meant to be the value obtained on the second script "02_calibration_create_rectification.ipynb" if so is it the left value or right value i should take?
This is from your script 01 K_r array([[1548.2460185 , 0. , 938.52025246], [ 0. , 1546.01995493, 643.97868973], [ 0. , 0. , 1. ]]) K_l array([[1561.46158081, 0. , 962.68404427], [ 0. , 1561.13056405, 659.95663259], [ 0. , 0. , 1. ]])
Second question you have sensor_full_x_px 3280, and 2464 is this what you're recording with, are your cameras synchronised at the hardware level so you only have video0 and have the frames split in half? Earlier in the calibration you was using
SENSOR_FULL_X_PX = 3280 SENSOR_FULL_Y_PX = 2464 class PARAMS: SENSOR_FULL_X = 3.68 # mm SENSOR_FULL_Y = 2.76 # mm SENSOR_FULL_X_PX = 3280 SENSOR_FULL_Y_PX = 2464
Is baseline calculated manually or are you using the T vector?
I am using this https://www.arducam.com/product/arducam-12mp2-synchronized-stereo-camera-bundle-kit-for-nvidia-jetson-nano-and-xavier-nx-two-12-3mp-imx477-camera-modules-with-cs-lens-and-camarray-stereo-camera-hat/
These are synchronised at the hardware level so i have the frames for example capturing on 2028 W 1520 H but they are then split in half to get the left and right frame
This is the datasheet for my camera imx477
Key Specifications:
– Camarray Stereo Camera HAT Two MIPI camera inputs and one MIPI camera output Support 1/2 lane MIPI cameras input up-to 1Gbps/lane Support 2 lane MIPI output up-to 1Gbps/lane Support RAW8/RAW10/RAW12 output format, the output format automatically changes with the input format Support Jetson Native commands for IMX219 cameras with half resolution combine Support Arducam Jetson cameras up to 16MP with proprietary camera driver with full resolution combine Support camera side-by-side combine, channel 0 and channel 1 software switching on the fly HAT Size: 65 x 55 mm – Camera Optical Format: 1/2.3″ (diagonal 7.857mm) Resolution: 4056(H) x 3040(V) 12.3MP Pixel Size: 1.55um x 1.55um IR Sensitivity: Visible light Interface: 4-lane MIPI CSI-2 Default Lens Mount: CS-Mount Video Modes: L4t 32.x: 4056×3040@10fps, 2028×1529@40fps, 2028×1080@50fps L4t 35.x: 4056×3040@10fps, 2028×1520@30fps, 2028×1080@30fps Board Size: 38mm × 38mm Hole Pitch: Compatible with 29mm, 30mm, 34mm – Lens Format: 1/2.3 inch Focal Length: 6mm Aperture (F): Max. F1.2 Field of View (FOV): 65° (H) Mount: CS-Mount Back Focal Length: 7.53mm MOD: 0.2m Dimension: Φ30×31mm Weight: 53g