Closed zoldaten closed 1 year ago
You might want to try the kalibr_calibrate_cameras
which assumes the camera is global shutter (similar to the ROS camera calibration).
Calibrating with rolling shutter does not mean that an odometry method (like orb_slam) will do better if that method does not take into account that rolling shutter effect. I would actually expect global shutter camera calibration method to perform better on a odometry method which only takes into account a global shutter camera, as compared to using a rolling shutter calibration on that same method. Now if the odometry method took into account the rolling shutter readout time, then this might be another story...
ok. got it working. no need _kalibr_calibratecameras . just wrong placed parameters in ost.yaml. it should be:
image_width: 320
image_height: 240
camera_name: head_camera
#[155.19988577 154.81930505 149.59845224 130.08993271]
camera_matrix:
rows: 3
cols: 3
data: [155.19988577, -0.0212 , 154.81930505,
0. , 149.59845224, 130.08993271,
0. , 0. , 1. ]
distortion_model: equidistant
#[-0.02752885 -0.01670695 0.01461811 -0.00684478]
distortion_coefficients:
rows: 1
cols: 4
data: [-0.02752885, -0.01670695, 0.01461811, -0.00684478]
rectification_matrix:
rows: 3
cols: 3
data: [1., 0., 0.,
0., 1., 0.,
0., 0., 1.]
projection_matrix:
rows: 3
cols: 4
data: [155.19988577, -0.0212 , 154.81930505, 0. ,
0. , 149.59845224, 130.08993271, 0. ,
0. , 0. , 1. , 0. ]
now it`s much better - https://youtu.be/9KBqRaBjKgA
hi , How can i use the calibrated file i got from ros wiki tutorial with orb slam @zoldaten
hi! i have calibrated camera fisheye 160 degree with ROS wiki tutorial https://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration. Chessboard (checkerboard in Kalibr terms) used. Got this result:
Then i use Kalibr tutorial, record rosbag for the same camera and calibrated it:
As i dont know exectly which model of rs camera i use i did calibration for all models also. And got results:
*I tried to use chessboard but crashed with error Spline Coefficient Buffer Exceeded. Set larger buffer margins!
So the question is: why the difference with ROS wiki presents ?
*i`ve tested calibration with orb_slam3. ROS wiki calibration gives a much better results while as the Kalibr failed.