calibration parameters results(camera.cfg)physic meaning?

ethz-asl / ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)

http://wiki.ros.org/ethzasl_ptam

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calibration parameters results(camera.cfg)physic meaning? #97

Open haoweix opened 7 years ago

haoweix commented 7 years ago

my calibrator.launch is ubstable. So I want to use calib tools in matlab to do the calibration. I see there are 5 parameters in the camera.cfg file. I want to know the physic meaning of each parameter.

Thank you in advance!

liu-zg15 commented 5 years ago

I think the parameters is fx/image_width, fy/image_height, cx/image_width, cy/image_height, d. fx is focal length in x. fy is focal length in y. cx is camera center in x. cy is camera center in y. d is distortion factor. Hope this will be helpful.