Open RIPGuy opened 3 weeks ago
First you should choose the "FISHEYE" camera model not the DIVISION_UNDISTORTION model for calibration.
Camera.cx and Camera.cy are the principal_pt_x and principal_pt_y. Camera.fx is the focal_length and Camera.fy is the focal_length*aspect_ratio
For the FISHEYE model you will also get 4 distortion coefficients that you need to set to Camera.k1 to Camera.k4.
Thank you for responding, I appreciate it.
I did as you said by using FISHEYE and multiplying focal_length and aspect ratio to get Camera.fy.
Now, I have another problem. I dont exactly know what is the output of the IMU noise and walk calibration. I extracted the telemetry from each video and merged them to a large file as .json and ran fit_allan_variance.
How exaclty am I going to determine Noisegyro, Noiseacc, Walkgyro, Walkacc as something similar in your .yaml config here.
Could you shed light on how I should proceed with this?
Hello, I'm not entirely sure if I got it right but the Random Noise should correspond to the White Noise and Random Walk should refer to the Bias Instability of each gyro and acc.
The Acc's result is already there but with the Gyr's result, I think you should select the instability or noise with the lowest value since there are two values. I based this idea by looking on some of the .yaml config files they almost usually select the one with the lowest value.
I averaged all x-y-z and got a single value for all noisegyro, noiseacc, accwalk, and accgyro.
Maybe, if by any chance, you found another way this can be understood please inform me. Thank you, hoped I helped.
On Mon, Sep 2, 2024, 2:43 PM CAI @.***> wrote:
@RIPGuy https://github.com/RIPGuy Did you know how obtain Noisegyro, Noiseacc, Walkgyro, Walkacc?
— Reply to this email directly, view it on GitHub https://github.com/urbste/OpenImuCameraCalibrator/issues/50#issuecomment-2323933864, or unsubscribe https://github.com/notifications/unsubscribe-auth/AY4SRJKX2V5Y7JPF4HYKAMTZUQCJTAVCNFSM6AAAAABNGOZ4DWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDGMRTHEZTGOBWGQ . You are receiving this because you were mentioned.Message ID: @.***>
Hello, I'm not entirely sure if I got it right but the Random Noise should correspond to the White Noise and Random Walk should refer to the Bias Instability of each gyro and acc. The Acc's result is already there but with the Gyr's result, I think you should select the instability or noise with the lowest value since there are two values. I based this idea by looking on some of the .yaml config files they almost usually select the one with the lowest value. I averaged all x-y-z and got a single value for all noisegyro, noiseacc, accwalk, and accgyro. Maybe, if by any chance, you found another way this can be understood please inform me. Thank you, hoped I helped. … On Mon, Sep 2, 2024, 2:43 PM CAI @.> wrote: @RIPGuy https://github.com/RIPGuy Did you know how obtain Noisegyro, Noiseacc, Walkgyro, Walkacc? — Reply to this email directly, view it on GitHub <#50 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AY4SRJKX2V5Y7JPF4HYKAMTZUQCJTAVCNFSM6AAAAABNGOZ4DWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDGMRTHEZTGOBWGQ . You are receiving this because you were mentioned.Message ID: @.>
Thanks, if i figure it out, i will share it with you.
Hello, I got the results from the calibration thanks to your repo.
I am trying to get the parameters to create a .yaml config for ORBSLAM3.
How do I get the coefficients something like this here if I have an output of my results in the camera calibration as shown below? I need the coefficients for the Camera.fx, Camera.fy, Camera.cx, and Camera.cy but it don't seem to be explicitly displayed in the json file which was produced.
{ "final_reproj_error": 0.4680723123482971, "fps": 29.97002997002997, "image_height": 540, "image_width": 960, "intrinsic_type": "DIVISION_UNDISTORTION", "intrinsics": { "aspect_ratio": 1.0151692796284786, "div_undist_distortion": 6.477186344000926e-07, "focal_length": 648.9719606689928, "principal_pt_x": 481.39044108629906, "principal_pt_y": 270.0444019781233, "skew": 0.0 }, "nr_calib_images": 106, "stabelized": false }