Calibrating Cameras
-
I seem to have successfully calibrated the tracking camera and the front stereo cameras.
However the rear stereo cameras are not so easy:
This is on a sentinel wiht SDK 1.0.0voxl2:~$ voxl-calibrate-camera stereo_rear -s 6x9 -l 0.036
Please open voxl-portal in a web browser to view the camera calibrator overlay stream
Calibrating Left Camera
Matrix
[501.6341078021471, 0, 312.0570434152602;
0, 501.6987891542731, 222.2877324066488;
0, 0, 1]
Distortion
[-0.1502441527526627;
0.03136514258800416;
5.047978211251211e-06;
0.0007012198359013242;
0]
distortion_model: plumb_bob
Re-projection error reported by calibrateCamera: 0.339971
Calibration Succeded!
Calibrating Right Camera
Matrix
[499.4811952338386, 0, 314.4191622715103;
0, 499.6489291511509, 227.6223607658805;
0, 0, 1]
Distortion
[-0.1549310463664996;
0.03293348747609434;
-0.0007877854337037341;
0.0003367908453812461;
0]
distortion_model: plumb_bob
Re-projection error reported by calibrateCamera: 0.322899
Calibration Succeded!
Calibrating Extrinsics
4 frames will be processed
R
[0.9986976114002246, -0.05097017966660664, -0.002263132395515557;
0.05095755996436296, 0.9986866400336852, -0.005321851248074788;
0.002531415802302149, 0.005199596424927816, 0.999983277925713]
T
[-0.08038782105206063;
-0.005256904223362341;
0.003021027838004832]
Re-projection error reported by stereoCalibrate: 0.524123
Detected horizontal stereo pair
Distance between cameras: 0.0804
Extrinsics Calibration Failed
exceeded allowable max reprojection error: 0.5Saved intrinsics to: /data/modalai/opencv_stereo_rear_intrinsics.yml
Exiting Cleanly
voxl2:~$ -
I seem to have successfully calibrated the tracking camera and the front stereo cameras.
However the rear stereo cameras are not so easy:
This is on a sentinel wiht SDK 1.0.0voxl2:~$ voxl-calibrate-camera stereo_rear -s 6x9 -l 0.036
Please open voxl-portal in a web browser to view the camera calibrator overlay stream
Calibrating Left Camera
Matrix
[501.6341078021471, 0, 312.0570434152602;
0, 501.6987891542731, 222.2877324066488;
0, 0, 1]
Distortion
[-0.1502441527526627;
0.03136514258800416;
5.047978211251211e-06;
0.0007012198359013242;
0]
distortion_model: plumb_bob
Re-projection error reported by calibrateCamera: 0.339971
Calibration Succeded!
Calibrating Right Camera
Matrix
[499.4811952338386, 0, 314.4191622715103;
0, 499.6489291511509, 227.6223607658805;
0, 0, 1]
Distortion
[-0.1549310463664996;
0.03293348747609434;
-0.0007877854337037341;
0.0003367908453812461;
0]
distortion_model: plumb_bob
Re-projection error reported by calibrateCamera: 0.322899
Calibration Succeded!
Calibrating Extrinsics
4 frames will be processed
R
[0.9986976114002246, -0.05097017966660664, -0.002263132395515557;
0.05095755996436296, 0.9986866400336852, -0.005321851248074788;
0.002531415802302149, 0.005199596424927816, 0.999983277925713]
T
[-0.08038782105206063;
-0.005256904223362341;
0.003021027838004832]
Re-projection error reported by stereoCalibrate: 0.524123
Detected horizontal stereo pair
Distance between cameras: 0.0804
Extrinsics Calibration Failed
exceeded allowable max reprojection error: 0.5Saved intrinsics to: /data/modalai/opencv_stereo_rear_intrinsics.yml
Exiting Cleanly
voxl2:~$@Paul-Carff OK I guess 4th time is a charm. I completed successfully on the 4th try.
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