Closed linhuixiao closed 5 years ago
Hi,
For the 1st question, I will give a short explain, from very beginning, since maybe you mix up the camera models.
There are 2 definitions, projection models and distortion models.
For us we are using pinhole as projection model, and FOV as distortion modle. Some projection model:
Normally we could find these distortion model:
For the FOV model, you can refer on this paper: https://hal.inria.fr/inria-00267247/file/distcalib.pdf
And you can find some similar information on : https://github.com/ethz-asl/kalibr/wiki/supported-models
For the 2nd question:
"camera 640x480, global shutter, 30fps" this means the resolution is 640x480 ,which is the image width and height, and running under 30fps
Camera: 133x100x166.5 FOV @10hz FOV is the field of vision, 133x100x166.5 means the horizontal FOV is 133 degree, vertical FOV is 100 degree, and diagonal FOV is 166.5 degree.
Thanks.
You can try with this modified project : https://github.com/pangfumin/VINS-Mono
check the readme 3.14
@linhuixiao Do you have any further question?
Hello, I test your newly upload sample dataset, and also meet some question.
In https://drive.segwayrobotics.com/#/dataset/index, the Sample Dataset Config file(*.yaml) your provide is show: %YAML:1.0 Author: SegwayRobotics camera_distortion_parameters: w: 8.9130900000000002e-01 camera_projection_parameters: fx: 2.6186799999999999e+02 fy: 2.6019200000000001e+02 cx: 3.2501700000000000e+02 cy: 2.3733500000000001e+02 I just wonder which camera model should be take in the newly upload sample dataset? PINHOLE or KANNALA_BRANDT ?If using PINHOLE model,the distortion_parameters k1, k2, p1, p2 should be given. If using KANNALA_BRANDT model, the projection_parameters k2~k5,mu,mv,u0,v0 should be given.
In https://drive.segwayrobotics.com/#/overview/sensor_setup, your camera image parameters is: camera 640x480, global shutter, 30fps Camera: 133x100x166.5 FOV @10Hz which image_width and image_height should be taken?which model should be taken? Is fisheye?