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daniilidis-group / m3ed

M3ED Dataset
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Distortion Model is radtan but only 4 parameters? #4

Closed klowrey closed 1 year ago

klowrey commented 1 year ago

From what I can tell, the radtan, aka plumb bob distortion model requires 5 parameters, but there are only 4 parameters provided under 'distortion_coeffs' in the HDF5 files.

Is a parameter missing? Where could it be located?

Was a different distortion model used? The fisheye distortion model uses 4 parameters, but based on the narrow FOV of the cameras, it is unlikely a fisheye lens was used (as also published in the accompanying paper). This would probably be the wrong model to use.

I hope that the missing coefficient can be located, as I suspect that figuring out the correct calibration after the data has been collected may be impossible if any change has affected the camera system. I hope this doesn't render this data-set unusable (i.e. I hope the calibration images are saved somewhere).

klowrey commented 1 year ago

Nevermind, I see that the default Kalibr output for radtan is 4 parameters.