Camera calibration

[ydirey]

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

[kilmarnock]

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.

[kilmarnock]

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

[kilmarnock]

A rough guess is to use the distortion coefficients, k1, k2, p1, p2 from left to right. The results seem plausible.

[AlexisTM]

Using Kalibr?