M0186 Camera DFOV

Windmill

Recently, we have purchased the M0186 camera, which, according to the datasheet, has a DFOV of 150°.
However, the images from this camera don't look like taken with a fisheye lens.
So, we have calculated the intrinsics of the camera using the Voxl calibration tool, and obtained the following matrix:

M: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
    data: [   1.2111858600697515e+03, 0., 9.3538000316848763e+02,
            0., 1.2129262124659490e+03, 5.4900150271230109e+02,
            0., 0., 1. ]
D: !!opencv-matrix
    rows: 4
    cols: 1
    dt: d
    data: [     -3.3964722286793279e-02, 5.0589478796916627e-03, 9.1758343339491352e-04, -7.4999943592417850e-03 ]
reprojection_error: 4.0302247235476896e-01
width: 1920
height: 1080
distortion_model: fisheye

When we calculated the actual DFOV, we got ~104°.
Can you confirm that this specific camera has a DFOV of 150° and that this is not a typo in the datasheet?

Alex Kushleyev

@Windmill , if you use 1920x1080 resolution for your IMX664 camera, depending on other settings in voxl-camera-server.conf file, the 1920x1080 will be a cropped version of the full resolution 2704x1540. That would match the result that you got : 150 * 1920 / 2704 = 106.5 degrees of diagonal FOV.

Please share the camera config section for this camera and I can tell you how to fix it.

Alex