Calibration yaml for M0061

[Wei Cui 0]

Does anyone have the calibration yaml for the following hi-res camera with M12 Lens SL-HD3125BMP? Thank you.

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[daz_22]

@Wei-Cui-0 @Alex-Kushleyev I would also like to see the intrinsics calibration yaml for the M0161 if available. Couldn't find it on the VOXL2. Thanks!

[Alex Kushleyev]

Hello @daz_22 ,

The ideal intrinsics of the IMX412 camera module (M0161) are as follows:

Full resolution:

• focal length : 1999 (~2000) pixels
• principal points: 2028, 1520 (for full frame image, such as 4056x3040 or 4040x3040)

2x2 Binned resolution

• focal length : 1000 pixels
• principal points : 2028/2, 1520/2

For other resolutions, you can adjust the principal points to be half of the width and height because the cropped image (in case of 3840x2160 or 1920x1080) will be centered.

The lens model is fisheye and you should set the distortion coefficients to zeros unless you calibrate them.

If you are going to calibrate the camera using voxl-calibrate-camera, it is very slow at full resolution, so i suggest calibrating at half resolution.

Here is an old calibration result I found for one of these cameras, just for reference:

%YAML:1.0
---
M: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 999.5391440104593, 0.0, 1016.522606127024,
           0.0, 998.2572561064064, 750.2875966666587,
           0.0, 0.0, 1.0 ]
D: !!opencv-matrix
   rows: 4
   cols: 1
   dt: d
   data: [ -0.02176119101007071, 0.01025514886831165, 
           -0.01688007838706262, 0.006525270203215156 ]
reprojection_error: 0.72238
width: 2020
height: 1520
distortion_model: fisheye
calibration_time: "2024-11-15 16:38:58"