Closed zoldaten closed 1 year ago
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.
thanks! will try.
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:
so i took em from here:
and put like that:
is it OK ? i missed k3.
and what camera model use with fish-eye csi raspberry pi camera ? radtan or equi ?