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intel / libxcam

libXCam is a project for extended camera(not limited in camera) features and focus on image quality improvement and video analysis. There are lots features supported in image pre-processing, image post-processing and smart analysis. This library makes GPU/CPU/ISP working together to improve image quality. OpenCL is used to improve performance in different platforms.
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Calibration makes surround view stitching more distorted #657

Closed Tamme closed 2 years ago

Tamme commented 5 years ago

Hi.

I calibrated my cams using matlab. Initially the projection is totally messed up: image

After i change some signs of values in the intrinsic calibration inverse mapping it becomes normal, but the fisheye effect is actually increased: image

After tinkering with pitch (set it to 15 degs) I can get it to be less distorted, bus my cameras are definitely not at this angle. image

Did you maybe use some other calibration setup, or have other ideas, what could be messed up?

Thank you!

mrp1234567 commented 2 years ago

@Tamme need some help on surround view with libxcam, can you please list the steps you did ?

Tamme commented 2 years ago

Hi @mrp1234567. As mentioned, I used matlab ocam calib toolbox to get calibration values for the intrinsics. It has been some time, but I think then used this example as the executable to run the stitcher. And then I got some reasonable results with all zero extrinsics, I started modifying them, to make the result more correct.

Hope it helps.