how to translate result for ORB_SLAM3 purpose ?

[zoldaten]

hi ! i just calibrated csi fish-eye camera raspberry pi with imu-6050 and got the result 410x308_dynamic-results-imucam.txt i need from there some parameters as ORB_SLAM3 asked:

# Camera calibration and distortion parameters (OpenCV) 
Camera1.fx: 517.306408
Camera1.fy: 516.469215
Camera1.cx: 318.643040
Camera1.cy: 255.313989

Camera1.k1: 0.262383
Camera1.k2: -0.953104
Camera1.p1: -0.005358
Camera1.p2: 0.002628
Camera1.k3: 1.163314

so i took em from here:

cam0
-----
  Camera model: pinhole
  Focal length: [323.3550360553289, 321.94843062060573]
  Principal point: [190.02758385712497, 165.90721523170825]
  Distortion model: radtan
  Distortion coefficients: [-0.7551980329196379, 0.42823626654393665, 1.754613537049539e-05, 0.0036889938521052737]

and put like that:

# Camera calibration and distortion parameters (OpenCV) 
#Camera1.fx: 517.306408
#Camera1.fy: 516.469215
#Camera1.cx: 318.643040
#Camera1.cy: 255.313989
Camera1.fx: 323.3550360553289
Camera1.fy: 321.94843062060573
Camera1.cx: 190.02758385712497
Camera1.cy: 165.90721523170825

#Camera1.k1: 0.262383
#Camera1.k2: -0.953104
#Camera1.p1: -0.005358
#Camera1.p2: 0.002628
#Camera1.k3: 1.163314
Camera1.k1: -0.7551980329196379
Camera1.k2: 0.42823626654393665
Camera1.p1: 1.754613537049539e-05
Camera1.p2: 0.0036889938521052737

is it OK ? i missed k3.

and what camera model use with fish-eye csi raspberry pi camera ? radtan or equi ?

[goldbattle]

You can compare the EuRoC MAV config mav0/cam0/sensor.yaml to the ORB_SLAM3 config as a reference.

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]

verses their config:

Camera1.fx: 458.654
Camera1.fy: 457.296
Camera1.cx: 367.215
Camera1.cy: 248.375
Camera1.k1: -0.28340811
Camera1.k2: 0.07395907
Camera1.p1: 0.00019359
Camera1.p2: 1.76187114e-05

Hope this helps.

[zoldaten]

thanks! will try.