M1234Thomas
commented
7 years ago @KevenLee : I am also facing the same issue. Did you find any solution?
Open KevenLee opened 7 years ago
M1234Thomas
commented
7 years ago @KevenLee : I am also facing the same issue. Did you find any solution?
I calibrate the stereo camera with opencv2.4.10, and the calibration parameters as following:
left camera intrinsic parameters
Camera.fx: 673.0278 Camera.fy: 673.0278 Camera.cx: 314.5365 Camera.cy: 230.8863
Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0
image resolution
Camera.width: 640 Camera.height: 480
Camera frames per second
Camera.fps: 10.0
the baseline in fact is 4cm, here camera.bf = camera.fx * 0.04
Camera.bf: 26.9211
Close/Far threshold. Baseline times.
ThDepth: 100
but the output trajectory is completely wrong. straight line to get the trajectory is not a straight line.
but when I modify the intrinsic parameters as following, I can get the approximate exact trajectory:
scale down focal length in the ratio of one to ten
Camera.fx: 67.30278 Camera.fy: 67.30278
Camera.cx: 314.5365 Camera.cy: 230.8863
Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0
Camera.width: 640 Camera.height: 480
Camera.fps: 10.0
the baseline in fact is 4cm, here camera.bf = camera.fx * 0.04
Camera.bf: 2.6
Close/Far threshold. Baseline times.
ThDepth: 100
only if I do not care about other parameters like cx,cy,bf, just scaling down fx and fy, I also get approximate true trajectory.
why this happen, can anyone help me.
thank you
KevenLee