Open TillBeemelmanns opened 5 years ago
I use a recorded bag file and experienced an instable behavior of the calibration method. Using the identical bag file and identical parameters the method delivers varying results.
config_file.txt
1920 1216 -100 100 -100 100 0 4.7 0.01 2 0 2107.007080 0 1034.812492 0 0 2157.546875 515.748594 0 0 0 1 0 100 1.57 -1.57 0.0
marker_coordinates.txt
2 100.0 70.0 5.0 5.0 30.0 100.0 70.0 5.0 5.0 30.0
zed_left_uurmi.ini
# Camera intrinsics [image] width 1920 height 1216 [camera] camera matrix 2185.564228 0 1023.330735 0 2188.853599 515.806255 0 0 1.0 distortion -0.188516 0.106128 0.004597 0.005068 0.000000 rectification 1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 projection 2107.007080 0 1034.812492 0 0 2157.546875 515.748594 0 0 0 1 0
Result 1:
Result 2:
For the last case:
points.txt
8 -0.287939 -0.587037 4.17691 -0.0106564 -0.39377 4.13487 -0.39765 0.543588 4.18022 -0.948976 0.166455 4.23781 0.569169 -0.554285 4.1282 0.909962 -0.464728 4.14648 0.505134 0.451371 4.14054 0.18765 0.350935 4.17093 -0.643128 -1.04079 3.01878 -0.0559926 -0.661605 2.9802 -0.598641 0.17835 2.97742 -1.18578 -0.200838 3.016 0.223837 -0.985719 2.98987 0.889473 -0.770182 2.96814 0.580854 0.180763 2.94677 -0.0847825 -0.0347736 2.9685
transform.txt
3=(519.588,297.005) (404.96,478.401) (238.47,365.183) (351.442,186.267) Txyz=-0.909586 -0.260523 3.00583 Rxyz=-0.616471 1.89678 -1.93183 9=(1285.19,324.969) (1217.91,534.697) (1007.38,466.432) (1075.2,257.711) Txyz=0.167144 -0.163377 2.96676 Rxyz=-0.357585 2.03932 -2.08965
Can somebody help me out ? Thanks in advance.
I use a recorded bag file and experienced an instable behavior of the calibration method. Using the identical bag file and identical parameters the method delivers varying results.
config_file.txt
marker_coordinates.txt
zed_left_uurmi.ini
Result 1:
Result 2:
For the last case:
points.txt
transform.txt
Can somebody help me out ? Thanks in advance.