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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
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k1 distortion parameter for KANNALA_BRANDT camera model? #118

Open sandeepnmenon opened 2 years ago

sandeepnmenon commented 2 years ago

As per OpenCV, the KANNALA_BRANDT mode has the camera parameters named fx, fy, cx, cy, and distortion parameters as k1, k2, k3 and k4

However, as mentioned in the code in this repo https://github.com/hengli/camodocal/blob/7211aaf6869c94e5de4696c93ece8ade975a3e56/src/camera_models/EquidistantCamera.cc#L17-29

I understand that mu and mv are fx and fy respectively Similarly, u0 and v0 are cx and cy respectively.

How about the distortion coefficients? Where is the parameter k1?

fickrie67 commented 1 year ago

As per OpenCV, the KANNALA_BRANDT mode has the camera parameters named fx, fy, cx, cy, and distortion parameters as k1, k2, k3 and k4

However, as mentioned in the code in this repo https://github.com/hengli/camodocal/blob/7211aaf6869c94e5de4696c93ece8ade975a3e56/src/camera_models/EquidistantCamera.cc#L17-29

I understand that mu and mv are fx and fy respectively Similarly, u0 and v0 are cx and cy respectively.

How about the distortion coefficients? Where is the parameter k1?

k1 is 1 here