Calibration

calibration/pocoX3/calib.txt

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+  cameraIntrinsics with properties:
+
+			 FocalLength: [1.2506e+03 1.2548e+03]
+		  PrincipalPoint: [978.3789 562.0621]
+			   ImageSize: [1080 1920]
+		RadialDistortion: [0.0222 -0.0822]
+	TangentialDistortion: [0 0]
+					Skew: 0
+		 IntrinsicMatrix: [3×3 double]
+
+>> cameraParams.IntrinsicMatrix
+
+ans =
+
+   1.0e+03 *
+
+	1.2506		 0		 0
+		 0	1.2548		 0
+	0.9784	0.5621	0.0010
+------------------------------
+>> cameraParams.IntrinsicMatrix
+
+ans =
+
+   1.0e+03 *
+
+	1.2702		 0		 0
+	0.0007	1.2717		 0
+	1.0126	0.5642	0.0010
+
+>> cameraParams;
+>> cameraParams
+
+cameraParams = 
+
+  cameraParameters with properties:
+
+   Camera Intrinsics
+						 Intrinsics: [1×1 cameraIntrinsics]
+
+   Camera Extrinsics
+				   RotationMatrices: [3×3×136 double]
+				 TranslationVectors: [136×3 double]
+
+   Accuracy of Estimation
+			  MeanReprojectionError: 0.7991
+				 ReprojectionErrors: [28×2×136 double]
+				  ReprojectedPoints: [28×2×136 double]
+
+   Calibration Settings
+						NumPatterns: 136
+				  DetectedKeypoints: [28×136 logical]
+						WorldPoints: [28×2 double]
+						 WorldUnits: 'millimeters'
+					   EstimateSkew: 1
+	NumRadialDistortionCoefficients: 3
+	   EstimateTangentialDistortion: 1
+
+>>
+>> cameraParams.Intrinsics
+
+ans = 
+
+  cameraIntrinsics with properties:
+
+			 FocalLength: [1.2702e+03 1.2717e+03]
+		  PrincipalPoint: [1.0126e+03 564.1934]
+			   ImageSize: [1080 1920]
+		RadialDistortion: [0.0936 -0.5403 0.7632]
+	TangentialDistortion: [7.2525e-04 0.0084]
+					Skew: 0.6853
+		 IntrinsicMatrix: [3×3 double]

calibration/pocoX3/calib.yaml

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+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+# Viewer.on: 1 is ON, 0 is OFF
+Viewer.on: 1
+
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 1
+Viewer.LineSize: 1
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+#camera matrix:
+# [[720.74677588   0.         324.72460102]
+# [  0.         720.87434544 238.97483313]
+# [  0.           0.           1.        ]]
+#distortion coefficients:  [-1.96841029e-02 -5.74293178e-01 -6.78065914e-04  8.34984375e-04 1.59969276e+00]
+# PocoX3
+#     1250.6         0         0
+#          0    1254.8         0
+#     978.4    562.1          1.0
+#     [0.0936 -0.5403 7.2525e-04 0.0084 0.7632]
+
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 1250.6
+Camera.fy: 1254.8
+Camera.cx: 978.4
+Camera.cy: 562.1
+
+Camera.k1: 0.0936
+Camera.k2: -0.5403
+Camera.p1: 7.2525e-04
+Camera.p2: 0.0084
+Camera.k3: 0.7632
+
+Camera.width: 1920
+Camera.height: 1080
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# IR projector baseline times fx (aprox.)
+Camera.bf: 40.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 0
+
+# Close/Far threshold. Baseline times.
+ThDepth: 40.0
+
+# Deptmap values factor
+DepthMapFactor: 1.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+
+