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srv / stereo_slam

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Camera Calibration #6

Closed jake3991 closed 5 years ago

jake3991 commented 5 years ago

This is a great package, thanks for publishing your code! I'm having a little bit of trouble with camera calibration though. Right now I am calibrating the camera in the water (onboard the ROV) using the ROS camera calibration system. It's still providing very poor results, do you have a recommended method for properly calibrating a stereo array to utilize this package? Thanks again.

ferreram commented 5 years ago

For camera calibration I would advise you to use the Kalibr toolbox : https://github.com/ethz-asl/kalibr. It should give you good results.

jake3991 commented 5 years ago

Great thanks! Do you recommend calibrating in water or out of water?

ferreram commented 5 years ago

You should calibrate in water. Otherwise you won't estimate the optical effect of the water medium on the image formation (intrinsic parameters + distortion).

jake3991 commented 5 years ago

Great thank you!