Open ydirey opened 8 years ago
This is a good question. Unfurtunatelly, the duplicity is not prooven by a link. opencv does camera, distortion, rectification, projection matrixes. remode wants 8 values, svo 5.
remode wants fx, fy, cx, cy, k1, k2, r1, r2 ros camera calibrator delivers fx, fy, cx, cy, d0, d1, d2, d3
An example is here (from ros camera_calibration parsers):
image_width: 2448 image_height: 2050 camera_name: prosilica camera_matrix: rows: 3 cols: 3 data: [4827.94, 0, 1223.5, 0, 4835.62, 1024.5, 0, 0, 1] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.41527, 0.31874, -0.00197, 0.00071, 0] rectification_matrix: rows: 3 cols: 3 data: [1, 0, 0, 0, 1, 0, 0, 0, 1] projection_matrix: rows: 3 cols: 4 data: [4827.94, 0, 1223.5, 0, 0, 4835.62, 1024.5, 0, 0, 0, 1, 0]
Which would you describe as k1, k2, r1, r2 ? Thank you
A rough guess is to use the distortion coefficients, k1, k2, p1, p2 from left to right. The results seem plausible.
Using Kalibr?
Hello,
how do I derive the calibration parameters (cam_k1, cam_k2, cam_r1, cam_fx, cam_cx etc.)?
How do these parameter names relate to the matrices rendered here? http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
Is the calibration for REMODE different to that for SVO?
Thank you!
Best, Yaroslav