learnable-triangulation-pytorch
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Published
20 hours ago •
Samleo8
Samleo8
Camera calibration format
Hi, I am trying to collect the correct camera calibration data for my own dataset in this format:
[
{
'id': 3, // optional
'R': [ /* 3x3 rotation matrix */ ],
'k': [ /* 3x3 calibration/instrinsics matrix */ ],
't': [ /* 3x1 translation matrix */ ],
'dist': [ /* 5x1 distortion coefficients */ ]
}.
]
However, when using the OpenCV method of camera calibration the output is in this format (below) The Rotation matrix and translation matrix are in a different format (vectors?) How do I get the correct format? Thanks
Camera matrix :
[[1.44644326e+03 0.00000000e+00 9.59836634e+02]
[0.00000000e+00 1.44646498e+03 5.39556895e+02]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]
dist :
[[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
3.04891387e-04]]
rvecs :
[array([[0.10322433],
[0.00586084],
[0.01965572]]), array([[ 0.02876875],
[-0.03474045],
[ 0.01824509]]), array([[ 0.03467534],
[-0.05020887],
[ 0.01830534]]), array([[ 0.03556834],
[-0.05399128],
[-0.0484105 ]]), array([[ 0.03717584],
[ 0.08012789],
[-0.04607123]]), array([[ 0.01846599],
[-0.11597159],
[-0.05320749]]), array([[ 0.10165191],
[-0.07348809],
[ 0.02913424]]), array([[-0.05693991],
[-0.011658 ],
[ 0.01366273]]), array([[ 0.30802603],
[-0.10069939],
[ 0.10513563]]), array([[0.0610907 ],
[0.44109706],
[0.11019328]]), array([[-0.19697588],
[-0.04283537],
[ 0.03067312]]), array([[-0.13900922],
[-0.2246676 ],
[ 0.03297445]]), array([[-0.1011033 ],
[ 0.42317815],
[ 0.14566023]]), array([[0.09366817],
[0.00607288],
[0.0197487 ]]), array([[0.08399034],
[0.00614608],
[0.01978352]]), array([[0.07426776],
[0.00604659],
[0.01976052]]), array([[0.06450547],
[0.0055183 ],
[0.01971954]]), array([[0.05460176],
[0.00494075],
[0.01961118]]), array([[0.04475805],
[0.00400285],
[0.01945504]]), array([[0.03487713],
[0.00280646],
[0.01928059]]), array([[ 0.03351362],
[-0.00343919],
[ 0.01905554]]), array([[ 0.03243555],
[-0.00973823],
[ 0.01882941]]), array([[ 0.0310162 ],
[-0.01598584],
[ 0.01867843]]), array([[ 0.03049254],
[-0.02229135],
[ 0.01850028]]), array([[ 0.02964575],
[-0.02886133],
[ 0.01845228]]), array([[ 0.02843749],
[-0.04118144],
[ 0.01820741]]), array([[ 0.027988 ],
[-0.0472495 ],
[ 0.01814665]]), array([[ 0.02716986],
[-0.05361597],
[ 0.01811481]]), array([[ 0.02688923],
[-0.05968937],
[ 0.01804434]]), array([[ 0.02779733],
[-0.05870588],
[ 0.01810973]]), array([[ 0.02871731],
[-0.05767375],
[ 0.01813291]]), array([[ 0.02957412],
[-0.05654344],
[ 0.01815416]]), array([[ 0.03037135],
[-0.0554144 ],
[ 0.01819777]]), array([[ 0.03125682],
[-0.05465253],
[ 0.01824934]]), array([[ 0.03198659],
[-0.0534214 ],
[ 0.01822905]]), array([[ 0.03292994],
[-0.05217291],
[ 0.01826689]]), array([[ 0.03389497],
[-0.05133067],
[ 0.01830513]]), array([[ 0.03568775],
[-0.04904374],
[ 0.01839013]]), array([[ 0.03567725],
[-0.05145943],
[ 0.01169535]]), array([[ 0.03553939],
[-0.05379552],
[ 0.00499246]]), array([[ 0.03557365],
[-0.05603038],
[-0.00168168]]), array([[ 0.03554298],
[-0.05841379],
[-0.00836349]]), array([[ 0.03572186],
[-0.06072667],
[-0.01503664]]), array([[ 0.03575173],
[-0.06303097],
[-0.02172327]]), array([[ 0.0361487 ],
[-0.06531335],
[-0.02838113]]), array([[ 0.03615495],
[-0.06766396],
[-0.03500657]]), array([[ 0.03636102],
[-0.06999564],
[-0.0416864 ]]), array([[ 0.03663928],
[-0.07213835],
[-0.04834239]]), array([[ 0.03613996],
[-0.06324022],
[-0.0483991 ]]), array([[ 0.03518512],
[-0.04457608],
[-0.04832746]]), array([[ 0.03496729],
[-0.03495072],
[-0.04821182]]), array([[ 0.03525891],
[-0.02573156],
[-0.04808373]]), array([[ 0.03519819],
[-0.01630115],
[-0.04787894]]), array([[ 0.03557333],
[-0.00677863],
[-0.0476355 ]]), array([[ 0.03654236],
[ 0.00295582],
[-0.04731691]]), array([[ 0.03748246],
[ 0.01259579],
[-0.04699502]]), array([[ 0.03849325],
[ 0.0223351 ],
[-0.04656495]]), array([[ 0.0378291 ],
[ 0.03377083],
[-0.04661988]]), array([[ 0.0373468 ],
[ 0.04492803],
[-0.04655054]]), array([[ 0.0370422 ],
[ 0.05682901],
[-0.04640478]]), array([[ 0.03702993],
[ 0.06839694],
[-0.04629415]]), array([[ 0.03741903],
[ 0.09169926],
[-0.04576833]]), array([[ 0.03805815],
[ 0.10364171],
[-0.04547383]]), array([[ 0.03860977],
[ 0.11547035],
[-0.0450544 ]]), array([[ 0.03996408],
[ 0.12723619],
[-0.04472855]]), array([[ 0.04127252],
[ 0.13904516],
[-0.04427556]]), array([[ 0.02988295],
[ 0.10598679],
[-0.04712711]]), array([[ 0.02129357],
[ 0.07288558],
[-0.0495296 ]]), array([[ 0.01486569],
[ 0.04006551],
[-0.05144872]]), array([[ 0.01107139],
[ 0.00760604],
[-0.05289524]]), array([[ 0.00931909],
[-0.02469899],
[-0.05377705]]), array([[ 0.01011569],
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[-0.05418065]]), array([[ 0.01308388],
[-0.0862145 ],
[-0.05398944]]), array([[ 0.02539993],
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[-0.0057622 ],
[ 0.03181397]]), array([[0.09653789],
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[0.03380738]]), array([[0.09753421],
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[0.03628648]]), array([[0.10127923],
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[0.03766291]]), array([[0.05844177],
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[0.03176851]]), array([[0.01760905],
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[ 0.01972768]]), array([[ 0.13053995],
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[ 0.00974808]]), array([[ 0.12843456],
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[ 0.01031913]]), array([[ 0.12695212],
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[ 0.01104121]]), array([[ 0.12624114],
[-0.0876771 ],
[ 0.01185421]]), array([[ 0.12566218],
[-0.07267249],
[ 0.01278509]]), array([[ 0.12579632],
[-0.05735235],
[ 0.01387445]]), array([[ 0.12638359],
[-0.0421282 ],
[ 0.01504203]]), array([[ 0.12734985],
[-0.02702861],
[ 0.01628402]]), array([[ 0.1290801 ],
[-0.01163635],
[ 0.01765662]]), array([[0.13127712],
[0.0036921 ],
[0.01914791]]), array([[0.12207521],
[0.0046558 ],
[0.0193463 ]]), array([[0.11269308],
[0.00533789],
[0.01952478]]), array([[-0.08967877],
[-0.04376131],
[ 0.00774083]]), array([[-0.11941828],
[-0.07925056],
[ 0.00204692]]), array([[-0.1454916 ],
[-0.11696271],
[-0.00333265]]), array([[-0.1675641 ],
[-0.1573031 ],
[-0.00832662]]), array([[-0.18607216],
[-0.19960762],
[-0.01274968]]), array([[-0.2005398 ],
[-0.24355475],
[-0.0167385 ]]), array([[-0.14039336],
[-0.16271505],
[ 0.00628496]]), array([[-0.06705754],
[-0.10160029],
[ 0.02908743]]), array([[ 0.01326019],
[-0.06230612],
[ 0.05041263]]), array([[ 0.0960622 ],
[-0.04449067],
[ 0.06949887]]), array([[ 0.17544689],
[-0.04634389],
[ 0.08522649]]), array([[ 0.24728927],
[-0.06614863],
[ 0.09715182]]), array([[ 0.35446342],
[-0.14534241],
[ 0.10908152]]), array([[ 0.38539402],
[-0.19648518],
[ 0.10935265]]), array([[ 0.40068516],
[-0.24843512],
[ 0.10645312]]), array([[ 0.4289201 ],
[-0.18637292],
[ 0.11771753]]), array([[ 0.44484721],
[-0.11682918],
[ 0.12753298]]), array([[ 0.44708468],
[-0.04181391],
[ 0.13547181]]), array([[0.43528193],
[0.03636956],
[0.14121547]]), array([[0.40844847],
[0.11550975],
[0.14420246]]), array([[0.36667462],
[0.19288141],
[0.14422624]]), array([[0.3101974 ],
[0.266351 ],
[0.14098314]]), array([[0.23987336],
[0.33361671],
[0.13430372]]), array([[0.15648128],
[0.39266557],
[0.12400402]]), array([[0.06173157],
[0.42652433],
[0.10944694]]), array([[0.06205619],
[0.4117478 ],
[0.10890919]]), array([[0.06201045],
[0.39714842],
[0.1084275 ]]), array([[0.06285113],
[0.38235055],
[0.1078152 ]]), array([[0.06375749],
[0.36747543],
[0.10724109]]), array([[0.06470036],
[0.352857 ],
[0.10670031]]), array([[0.06506839],
[0.33881657],
[0.10640113]]), array([[0.06612846],
[0.32347699],
[0.10580073]]), array([[0.06701756],
[0.3091255 ],
[0.10542839]]), array([[0.06862262],
[0.29486992],
[0.10495771]]), array([[-0.05302695],
[ 0.19830796],
[ 0.07602803]]), array([[-0.14232847],
[ 0.08277688],
[ 0.05073745]]), array([[-0.21774921],
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[0.26374743],
[0.12185212]]), array([[-0.01658914],
[ 0.29616878],
[ 0.1271042 ]]), array([[-0.03709911],
[ 0.32838984],
[ 0.13212863]]), array([[-0.05797423],
[ 0.36015046],
[ 0.13688942]]), array([[-0.07940517],
[ 0.39186655],
[ 0.1414372 ]]), array([[-0.12421278],
[ 0.45450897],
[ 0.14988746]]), array([[-0.02027904],
[ 0.40946676],
[ 0.16321869]]), array([[0.07206196],
[0.35343336],
[0.17297331]]), array([[0.1522359 ],
[0.28748761],
[0.17897129]]), array([[0.21888208],
[0.21381116],
[0.1812202 ]]), array([[0.27147827],
[0.13449869],
[0.17980693]]), array([[0.30902299],
[0.05123254],
[0.17499767]]), array([[ 0.33118207],
[-0.03327948],
[ 0.16696734]]), array([[ 0.33800658],
[-0.11694237],
[ 0.15595736]]), array([[ 0.32980645],
[-0.19779851],
[ 0.14229471]]), array([[ 0.30719502],
[-0.27357063],
[ 0.12652331]]), array([[ 0.3209136 ],
[-0.28285912],
[ 0.14107921]]), array([[ 0.33371294],
[-0.29456343],
[ 0.15515309]]), array([[ 0.34558165],
[-0.3086057 ],
[ 0.16873544]]), array([[ 0.35567916],
[-0.32498616],
[ 0.18178202]]), array([[ 0.36381888],
[-0.34333639],
[ 0.19416744]]), array([[ 0.36976401],
[-0.36345518],
[ 0.20597662]]), array([[ 0.37327916],
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[ 0.21710015]]), array([[ 0.37368722],
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[ 0.22755185]]), array([[ 0.37136296],
[-0.43058458],
[ 0.23737914]]), array([[ 0.36590434],
[-0.45406728],
[ 0.24666299]])]
tvecs :
[array([[ 2.66476989],
[-3.33673936],
[17.85376573]]), array([[-4.8351615 ],
[ 0.55764164],
[18.24433871]]), array([[-9.69708746],
[-4.47578088],
[16.45470293]]), array([[-10.84578967],
[ -7.83191025],
[ 25.7312514 ]]), array([[ 8.33363135],
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[27.99576755]]), array([[-8.31158562],
[ 0.06787774],
[23.34155579]]), array([[-11.63857256],
[ 2.74490915],
[ 23.75431658]]), array([[-0.70765791],
[ 3.80631702],
[28.47027191]]), array([[-14.7612401],
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[ 1.61659894],
[ 22.62078269]]), array([[-13.42919306],
[ 1.81118309],
[ 22.74229904]]), array([[-13.56516549],
[ 2.00585805],
[ 22.85974279]]), array([[-13.70096453],
[ 2.20032005],
[ 22.97454022]]), array([[-13.83545961],
[ 2.3952648 ],
[ 23.08564551]]), array([[-13.96988255],
[ 2.59034097],
[ 23.19518439]]), array([[-9.30587616],
[ 2.90039978],
[24.31258248]]), array([[-6.97117884],
[ 3.05505408],
[24.8702023 ]]), array([[-4.63519532],
[ 3.2096385 ],
[25.42945668]]), array([[-2.29762676],
[ 3.36337746],
[25.98378421]]), array([[ 0.04132794],
[ 3.51739226],
[26.53666313]]), array([[ 2.3829259 ],
[ 3.67054169],
[27.0944156 ]]), array([[ 4.72568078],
[ 3.82361894],
[27.64882815]]), array([[ 7.06929493],
[ 3.97589108],
[28.19711393]]), array([[ 9.41545033],
[ 4.12799864],
[28.74863343]]), array([[ 6.88569795],
[ 4.04588092],
[28.71465112]]), array([[ 4.35462631],
[ 3.96590393],
[28.65558535]]), array([[ 1.82374512],
[ 3.88739733],
[28.5767474 ]]), array([[-7.61873651],
[-4.17006646],
[15.85264069]]), array([[-6.52336284],
[-4.27276853],
[16.00434806]]), array([[-5.42639454],
[-4.375587 ],
[16.15374732]]), array([[-4.32823853],
[-4.47851559],
[16.3030692 ]]), array([[-3.2286759 ],
[-4.581914 ],
[16.45238781]]), array([[-2.12785921],
[-4.68553991],
[16.60127778]]), array([[-1.02581462],
[-4.78970083],
[16.74963005]]), array([[ 0.07746096],
[-4.89343442],
[16.89458024]]), array([[ 1.18204347],
[-4.99807705],
[17.04005582]]), array([[ 2.28769813],
[-5.1028949 ],
[17.18350066]]), array([[ 2.41323857],
[-4.51451945],
[17.40742503]]), array([[ 2.53897816],
[-3.92582811],
[17.63097404]]), array([[-3.23694242],
[ 3.7230754 ],
[28.34120761]]), array([[-5.76247817],
[ 3.63529076],
[28.18824665]]), array([[-8.28303807],
[ 3.54251312],
[28.01622498]]), array([[-10.7965339 ],
[ 3.44420368],
[ 27.82158908]]), array([[-13.30128796],
[ 3.33950885],
[ 27.61081806]]), array([[-15.79670924],
[ 3.22971291],
[ 27.38368363]]), array([[-15.67662443],
[ 2.69176754],
[ 27.44643405]]), array([[-15.53035104],
[ 2.14003432],
[ 27.3821291 ]]), array([[-15.37533219],
[ 1.59069354],
[ 27.19774241]]), array([[-15.21986949],
[ 1.05984621],
[ 26.90484057]]), array([[-15.06791124],
[ 0.56169201],
[ 26.52990026]]), array([[-14.91602495],
[ 0.101534 ],
[ 26.09931668]]), array([[-14.59951049],
[ -0.72324798],
[ 25.18482877]]), array([[-14.43061322],
[ -1.11019423],
[ 24.74977714]]), array([[-14.25843677],
[ -1.49939839],
[ 24.35408144]]), array([[-12.03561919],
[ -1.66655548],
[ 24.66001519]]), array([[-9.81418202],
[-1.85745629],
[25.02776588]]), array([[-7.58387946],
[-2.06703024],
[25.4523048 ]]), array([[-5.33683202],
[-2.28634232],
[25.9301971 ]]), array([[-3.06696795],
[-2.50349066],
[26.4540593 ]]), array([[-0.77133833],
[-2.70344578],
[27.01730903]]), array([[ 1.55104657],
[-2.87274905],
[27.61032289]]), array([[ 3.89371844],
[-2.99695837],
[28.21740965]]), array([[ 6.2510516 ],
[-3.06451392],
[28.82630677]]), array([[ 8.42141371],
[-3.633064 ],
[29.22925865]]), array([[ 8.23343721],
[-4.20028124],
[29.03962546]]), array([[ 8.04677693],
[-4.76678543],
[28.85138532]]), array([[ 7.85922467],
[-5.33374361],
[28.65840293]]), array([[ 7.67348716],
[-5.90060333],
[28.46572019]]), array([[ 7.48810416],
[-6.46734802],
[28.2722626 ]]), array([[ 7.30614913],
[-7.03545105],
[28.08484318]]), array([[ 7.12139581],
[-7.60175787],
[27.88695128]]), array([[ 6.93990038],
[-8.16882934],
[27.69440104]]), array([[ 6.75950563],
[-8.73616189],
[27.50152655]]), array([[ 4.61475964],
[-8.35759804],
[27.24387105]]), array([[ 2.47708456],
[-8.02883363],
[26.79123135]]), array([[-1.62106854],
[-7.56139183],
[25.49356842]]), array([[-3.54538313],
[-7.38967315],
[24.75998093]]), array([[-5.39819777],
[-7.22479538],
[24.04236463]]), array([[-7.20802572],
[-7.04658043],
[23.37785016]]), array([[-9.01163137],
[-6.84628089],
[22.79558044]]), array([[-10.84279579],
[ -6.62881897],
[ 22.31272354]]), array([[-12.72450427],
[ -6.4078483 ],
[ 21.93372129]]), array([[-12.89609158],
[ -5.90666051],
[ 21.84359786]]), array([[-13.0977233 ],
[ -5.40178763],
[ 21.82415022]]), array([[-13.31384693],
[ -4.88532471],
[ 21.86746617]]), array([[-13.52362252],
[ -4.35715022],
[ 21.96370236]]), array([[-13.70484116],
[ -3.82201743],
[ 22.08985974]]), array([[-13.92132371],
[ -2.78021789],
[ 22.3136256 ]]), array([[-13.95009631],
[ -2.2983199 ],
[ 22.33882235]]), array([[-13.94280444],
[ -1.84919091],
[ 22.261118 ]]), array([[-13.91903533],
[ -1.42394983],
[ 22.04756372]]), array([[-11.79453727],
[ -1.47107728],
[ 22.63867602]]), array([[-9.66568976],
[-1.51303156],
[23.23007915]]), array([[-7.53010553],
[-1.55010946],
[23.81938766]]), array([[-5.38987144],
[-1.58169641],
[24.4091039 ]]), array([[-3.24411048],
[-1.60860179],
[24.99742874]]), array([[-1.09313656],
[-1.62943417],
[25.58429844]]), array([[ 1.06220894],
[-1.64436314],
[26.1689715 ]]), array([[ 3.22223862],
[-1.65381828],
[26.75259768]]), array([[ 7.55601901],
[-1.65507476],
[27.91239821]]), array([[ 7.77308603],
[-1.25227671],
[27.70949359]]), array([[ 7.98698812],
[-0.77924244],
[27.48111848]]), array([[ 8.20808877],
[-0.24035137],
[27.24021905]]), array([[ 8.44652258],
[ 0.35604804],
[27.0034321 ]]), array([[ 8.7083773 ],
[ 0.99808634],
[26.78350405]]), array([[ 8.99775191],
[ 1.6715963 ],
[26.59178926]]), array([[ 9.31553826],
[ 2.36271304],
[26.44402531]]), array([[ 9.65800996],
[ 3.05785712],
[26.34759193]]), array([[10.01555132],
[ 3.74444359],
[26.30238494]]), array([[10.38053438],
[ 4.41315337],
[26.31505714]]), array([[ 7.96496956],
[ 4.32552467],
[26.10934223]]), array([[ 5.55337945],
[ 4.24160465],
[25.89788475]]), array([[ 3.14450296],
[ 4.16227988],
[25.67948139]]), array([[ 0.73877632],
[ 4.08528555],
[25.45708993]]), array([[-1.66356045],
[ 4.0113828 ],
[25.23507107]]), array([[-4.06372185],
[ 3.93822602],
[25.01122381]]), array([[-6.4620782 ],
[ 3.8657905 ],
[24.79089856]]), array([[-8.85981245],
[ 3.79288322],
[24.57929644]]), array([[-11.25755087],
[ 3.71702485],
[ 24.37258417]]), array([[-13.65489903],
[ 3.63767404],
[ 24.17225827]])]
Reformatted the output to match the example template, I calibrated 190 frames, not sure if I need that many ...
[
{
'id': 0, // optional
'R': [[0.10322433, 0.00586084],[0.01965572],
[0.02876875],[-0.03474045],[ 0.01824509],
[0.03467534],[-0.05020887],[ 0.01830534],
[0.03556834],[-0.05399128],[-0.0484105 ],
[0.03717584],[ 0.08012789],[-0.04607123],
[0.01846599],[-0.11597159],[-0.05320749],
[0.10165191],[-0.07348809],[ 0.02913424],
[-0.05693991],[-0.011658 ],[ 0.01366273],
[0.30802603],[-0.10069939],[ 0.10513563],
[0.0610907, 0.44109706,0.11019328],
[-0.19697588],[-0.04283537],[0.03067312],
[-0.13900922],[-0.2246676 ],[ 0.03297445],
[-0.1011033 ],[ 0.42317815],[ 0.14566023],
[0.09366817],[0.00607288],[0.0197487 ],
[0.08399034],[0.00614608],[0.01978352],
[0.07426776],[0.00604659],[0.01976052],
[0.06450547],[0.0055183 ],[0.01971954],
[0.05460176],[0.00494075],[0.01961118],
[0.04475805],[0.00400285],[0.01945504],
[0.03487713],[0.00280646],[0.01928059],
[0.03351362],[-0.00343919],[ 0.01905554],
[0.03243555],[-0.00973823],[ 0.01882941],
[0.0310162 ],[-0.01598584],[ 0.01867843],
[0.03049254],[-0.02229135],[ 0.01850028],
[0.02964575],[-0.02886133],[ 0.01845228],
[0.02843749],[-0.04118144],[ 0.01820741],
[0.027988 ],[-0.0472495 ],[ 0.01814665],
[0.02716986],[-0.05361597],[ 0.01811481],
[0.02688923],[-0.05968937],[ 0.01804434],
[0.02779733],[-0.05870588],[ 0.01810973],
[0.02871731],[-0.05767375],[ 0.01813291],
[0.02957412],[-0.05654344],[ 0.01815416],
[0.03037135],[-0.0554144 ],[ 0.01819777],
[0.03125682],[-0.05465253],[ 0.01824934],
[0.03198659],[-0.0534214 ],[ 0.01822905],
[0.03292994],[-0.05217291],[ 0.01826689],
[0.03389497],[-0.05133067],[ 0.01830513],
[0.03568775],[-0.04904374],[ 0.01839013],
[0.03567725],[-0.05145943],[ 0.01169535],
[0.03553939],[-0.05379552],[ 0.00499246],
[0.03557365],[-0.05603038],[-0.00168168],
[0.03554298],[-0.05841379],[-0.00836349],
[0.03572186],[-0.06072667],[-0.01503664],
[0.03575173],[-0.06303097],[-0.02172327],
[0.0361487 ],[-0.06531335],[-0.02838113],
[0.03615495],[-0.06766396],[-0.03500657],
[0.03636102],[-0.06999564],[-0.0416864 ],
[0.03663928],[-0.07213835],[-0.04834239],
[0.03613996],[-0.06324022],[-0.0483991 ],
[0.03518512],[-0.04457608],[-0.04832746],
[0.03496729],[-0.03495072],[-0.04821182],
[0.03525891],[-0.02573156],[-0.04808373],
[0.03519819],[-0.01630115],[-0.04787894],
[0.03557333],[-0.00677863],[-0.0476355 ],
[0.03654236],[ 0.00295582][-0.04731691],
[0.03748246],[ 0.01259579],[-0.04699502],
[0.03849325][ 0.0223351 ],[-0.04656495],
[0.0378291 ],[ 0.03377083],[-0.04661988],
[0.0373468 ],[ 0.04492803],[-0.04655054],
[0.0370422 ],[ 0.05682901],[-0.04640478],
[0.03702993],[ 0.06839694],[-0.04629415],
[0.03741903],[ 0.09169926],[-0.04576833],
[0.03805815],[ 0.10364171],[-0.04547383],
[0.03860977],[ 0.11547035],[-0.0450544 ],
[0.03996408],[ 0.12723619],[-0.04472855],
[0.04127252],[ 0.13904516],[-0.04427556],
[0.02988295],[ 0.10598679],[-0.04712711],
[0.02129357],[ 0.07288558],[-0.0495296 ],
[0.01486569],[ 0.04006551],[-0.05144872],
[0.01107139],[ 0.00760604],[-0.05289524],
[0.00931909],[-0.02469899],[-0.05377705],
[0.01011569],[-0.05546574],[-0.05418065],
[[0.01308388],[-0.0862145 ],[-0.05398944],
[0.02539993],[-0.14478329],[-0.05190197],
[0.03421056],[-0.17195762],[-0.05013324],
[0.03940709],[-0.16280336],[-0.04242425],
[0.04495138],[-0.15361656],[-0.03467084],
[0.05109064],[-0.14472358],[-0.0268123 ],
[0.05742325],[-0.13612306],[-0.01898232],
[0.06439736],[-0.12763301],[-0.01109991],
[0.07153872][-0.11971874],[-0.003183 ],
[0.07896143],[-0.11181481],[ 0.00474868],
[0.08715167],[-0.10438608],[ 0.01278411],
[0.09561111],[-0.09718168],[ 0.02075846],
[0.1044322 ],[-0.09021456],[ 0.02880461],
[0.09971569],[-0.05697319],[ 0.02968208],
[0.0980634 ],[-0.03978327],[ 0.03019855],
[0.09687983],[-0.02279768],[ 0.03095413],
[0.09633085],[-0.0057622 ],[ 0.03181397],
[0.09653789],[0.01137864],[0.03269646],
[0.09653923],[0.02895417],[0.03380738],
[0.09753421],[0.04658338],[0.0349351 ],
[0.0992599 ],[0.0638449 ],[0.03628648],
[0.10127923],[0.08142823],[0.03766291],
[0.05844177],[0.06393778],[0.03176851],
[0.01760905][0.04224549],[0.02582513],
[-0.02103805],[ 0.01714929],[ 0.01972768],
[0.13053995],[-0.13185105],[ 0.00974808],
[0.12843456],[-0.11722955],[ 0.01031913],
[0.12695212],[-0.10256126],[ 0.01104121],
[0.12624114],[-0.0876771 ],[ 0.01185421],
[0.12566218],[-0.07267249],[ 0.01278509],
[0.12579632],[-0.05735235],[ 0.01387445],
[0.12638359],[-0.0421282 ][ 0.01504203],
[0.12734985],[-0.02702861],[ 0.01628402],
[0.1290801 ],[-0.01163635],[ 0.01765662],
[0.13127712],[0.0036921 ],[0.01914791],
[0.12207521],[0.0046558 ],[0.0193463 ],
[0.11269308],[0.00533789],[0.01952478],
[-0.08967877],[-0.04376131],[ 0.00774083],
[-0.11941828],-0.07925056],[ 0.00204692],
[-0.1454916 ],[-0.11696271],[-0.00333265],
[-0.1675641 ],[-0.1573031 ],[-0.00832662],
[-0.18607216],[-0.19960762],[-0.01274968],
[-0.2005398 ],[-0.24355475],[-0.0167385 ],
[-0.14039336],[-0.16271505],[ 0.00628496],
[-0.06705754],[-0.10160029],[ 0.02908743],
[0.01326019],[-0.06230612],[ 0.05041263],
[0.0960622 ],[-0.04449067],[ 0.06949887],
[0.17544689],[-0.04634389],[ 0.08522649],
[0.24728927],[-0.06614863],[ 0.09715182],
[0.35446342],[-0.14534241],[ 0.10908152],
[0.38539402],[-0.19648518],[ 0.10935265],
[0.40068516],[-0.24843512],[ 0.10645312],
[0.4289201 ],[-0.18637292],[ 0.11771753],
[0.44484721],[-0.11682918],[ 0.12753298],
[0.44708468],[-0.04181391],[ 0.13547181],
[0.43528193],[0.03636956],[0.14121547],
[0.40844847],[0.11550975],[0.14420246],
[0.36667462],[0.19288141],[0.14422624],
[0.3101974 ],[0.266351 ],[0.14098314],
[0.23987336],[0.33361671],[0.13430372],
[0.15648128],[0.39266557],[0.12400402],
[0.06173157],[0.42652433],[0.10944694],
[0.06205619],[0.4117478 ],[0.10890919],
[0.06201045],[0.39714842],[0.1084275 ],
[0.06285113],[0.38235055],[0.1078152 ],
[0.06375749],[0.36747543],[0.10724109],
[0.06470036],[0.352857 ],[0.10670031],
[0.06506839],[0.33881657],[0.10640113],
[0.06612846],[0.32347699],[0.10580073],
[0.06701756],[0.3091255 ],[0.10542839],
[0.06862262],[0.29486992],[0.10495771],
[-0.05302695],[ 0.19830796],[ 0.07602803],
[-0.14232847],[ 0.08277688],[ 0.05073745],
[-0.21774921],[-0.16961981],[ 0.01694203],
[-0.20704163],[-0.28890978],[ 0.01018257],
[-0.16954777],[-0.39282166],[ 0.01049646],
[-0.11180395],[-0.47588849],[ 0.01746095],
[-0.04113122],[-0.53427107],[ 0.03011798],
[0.03480776],[-0.56616622],[ 0.04722538],
[0.10743273],[-0.57288792],[ 0.06692612],
[0.04709503],[-0.55724037],[ 0.05204467],
[-0.01233936],[-0.52333596], [0.03981064],
[-0.06561062],[-0.47104485],[ 0.03105644],
[-0.10753099],[-0.40130808],[ 0.02678977],
[-0.13322331],[-0.3176376 ],[ 0.02733897],
[-0.12154509],[-0.12695985],[ 0.04361731],
[-0.07953874],[-0.03061587],[ 0.05871882],
[-0.01299762],[ 0.05758161],[ 0.07743038],
[0.07690079],[0.13163967],[0.09874222],
[0.05924685],[0.16516787],[0.10484263],
[0.04108452],[0.19815769],[0.11074048],
[0.02249052],[0.23118179],[0.11639785],
[0.00318595],[0.26374743],[0.12185212],
[-0.01658914],[ 0.29616878],[ 0.1271042 ],
[-0.03709911],[ 0.32838984],[ 0.13212863],
[-0.05797423],[ 0.36015046],[ 0.13688942],
[-0.07940517],[ 0.39186655],[ 0.1414372 ],
[-0.12421278],[ 0.45450897],[ 0.14988746],
[-0.02027904],[ 0.40946676],[ 0.16321869],
[0.07206196],[0.35343336],[0.17297331],
[0.1522359 ],[0.28748761],[0.17897129],
[0.21888208],[0.21381116],[0.1812202 ],
[0.27147827],[0.13449869],[0.17980693],
[0.30902299],[0.05123254],[0.17499767],
[0.33118207],[-0.03327948],[ 0.16696734],
[0.33800658],[-0.11694237],[ 0.15595736],
[0.32980645],[-0.19779851],[ 0.14229471],
[0.30719502],[-0.27357063],[ 0.12652331],
[0.3209136 ],[-0.28285912],[ 0.14107921],
[0.33371294],[-0.29456343],[ 0.15515309],
[0.34558165],[-0.3086057 ],[ 0.16873544],
[0.35567916],[-0.32498616],[ 0.18178202],
[0.36381888],[-0.34333639],[ 0.19416744],
[0.36976401],[-0.36345518],[ 0.20597662],
[0.37327916],[-0.38496579],[ 0.21710015],
[0.37368722],[-0.40757291],[ 0.22755185],
[0.37136296],[-0.43058458],[ 0.23737914],
[0.36590434],[-0.45406728],[ 0.24666299]],
'k': [[ 1.44644326e+03, 0.00000000e+00, 9.59836634e+02 ],
[ 0.00000000e+00, 1.44646498e+03, 5.39556895e+02 ],
[ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 ]],
't': [[ 2.66476989],[-3.33673936],[17.85376573],
[-4.8351615 ],[ 0.55764164],[18.24433871],
[-9.69708746],[-4.47578088],[16.45470293],
[-10.84578967],[ -7.83191025],[ 25.7312514 ],
[8.33363135],[-4.864706 ],[27.99576755],
[-8.31158562],[ 0.06787774],[23.34155579],
[-11.63857256],[ 2.74490915],[ 23.75431658],
[-0.70765791],[ 3.80631702],[28.47027191],
[-14.7612401],[ -0.32354 ],[ 25.6419018],
[8.6118176 ],[-3.0669686 ],[29.41959859],
[0.38914573],[-7.76669697],[26.18945499],
[-13.8400198 ],[ -3.29190071],[ 22.21753805],
[5.38651559],[-1.65756222],[27.33248578],
[2.7903882 ],[-2.74716648],[18.07559891],
[2.9159042 ],[-2.15696271],[18.29726111],
[3.0410726 ],[-1.56619629],[18.51863335],
[3.16662301],[-0.97544427],[18.73754069],
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'dist': [[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
3.04891387e-04 ]]
重新格式化输出以匹配示例模板，我校准了190帧，不确定是否需要那么多...
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0.22755185], [0.37136296],[-0.43058458],[ 0.23737914], [0.36590434],[-0.45406728],[ 0.24666299]], 'k': [[ 1.44644326e+03, 0.00000000e+00, 9.59836634e+02 ], [ 0.00000000e+00, 1.44646498e+03, 5.39556895e+02 ], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 ]], 't': [[ 2.66476989],[-3.33673936],[17.85376573], [-4.8351615 ],[ 0.55764164],[18.24433871], [-9.69708746],[-4.47578088],[16.45470293], [-10.84578967],[ -7.83191025],[ 25.7312514 ], [8.33363135],[-4.864706 ],[27.99576755], [-8.31158562],[ 0.06787774],[23.34155579], [-11.63857256],[ 2.74490915],[ 23.75431658], [-0.70765791],[ 3.80631702],[28.47027191], [-14.7612401],[ -0.32354 ],[ 25.6419018], [8.6118176 ],[-3.0669686 ],[29.41959859], [0.38914573],[-7.76669697],[26.18945499], [-13.8400198 ],[ -3.29190071],[ 22.21753805], [5.38651559],[-1.65756222],[27.33248578], [2.7903882 ],[-2.74716648],[18.07559891], [2.9159042 ],[-2.15696271],[18.29726111], [3.0410726 ],[-1.56619629],[18.51863335], [3.16662301],[-0.97544427],[18.73754069], [3.29188471],[-0.38385296],[18.95728839], [3.41694196],[ 0.20823813],[19.17514928], [3.54161431],[ 0.80035122],[19.39120409], [2.14485278],[ 0.76003749],[19.20101953], [0.74851655],[ 0.71994826],[19.00988863], [-0.6478042 ],[ 0.67952596],[18.82016795], [-2.04386228],[ 0.63901063],[18.62702602], [-3.43949434],[ 0.59796158],[18.43403745], [-6.2302112 ],[ 0.51674524],[18.05054834], [-7.62513181],[ 0.47569233],[17.85825502], [-9.02037895],[ 0.4347188 ],[17.66692769], [-10.41499955],[ 0.39350786],[ 17.47417583], [-10.33517141],[ -0.14756397],[ 17.36074001], [-10.2554202 ],[ -0.68835179],[ 17.24724257], [-10.17558818],[ -1.22936344],[ 17.13403114], [-10.09574321],[ -1.7705013 ],[ 17.02109091], [-10.01614928],[ -2.31174753],[ 16.9077382 ], [-9.93634984],[-2.85262729],[16.79478293], [-9.85657027],[-3.39356365],[16.68169372], [-9.77690877],[-3.93473924],[16.56792339], [-9.61729664],[-5.01697665],[16.34136664], [-10.20296647],[ -5.30938486],[ 17.24159502], [-10.78871091],[ -5.6016467 ],[ 18.14230835], [-11.3737879 ],[ -5.8937778 ],[ 19.04298717], [-11.95899859],[ -6.18615614],[ 19.94331574], [-12.54411122],[ -6.47832866],[ 20.84412938], [-13.12835314],[ -6.76989098],[ 21.7436547 ], [-13.71320259],[ -7.06198458],[ 22.64444017], [-14.29775153],[ -7.35389026],[ 23.54469573], [-14.88149386],[ -7.64541725],[ 24.44442915], [-15.46519308],[ -7.93732792],[ 25.34491232], [-13.15600189],[ -7.88421999],[ 25.53700823], [-8.53540381],[-7.7794031 ],[25.92336113], [-6.22455979],[-7.72715888],[26.11686875], [-3.91330531],[-7.67502795],[26.30845097], [-1.60155603],[-7.62317184],[26.50108937], [0.71040853],[-7.57158749],[26.69219264], [3.02309107],[-7.52044805],[26.88493523], [5.33658419],[-7.4692043 ],[27.07676178], [7.65006377],[-7.41843523],[27.26864762], [7.78544571],[-6.90709676],[27.41459736], [7.92032349],[-6.39566824],[27.55592403], [8.05818063],[-5.88524902],[27.70592726], [8.19541322],[-5.37475797],[27.85004051], [8.47174301],[-4.35467161],[28.13790798], 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23.19518439], [-9.30587616],[ 2.90039978],[24.31258248], [-6.97117884],[ 3.05505408],[24.8702023 ], [-4.63519532],[ 3.2096385 ],[25.42945668], [-2.29762676],[ 3.36337746],[25.98378421], [0.04132794],[ 3.51739226],[26.53666313], [2.3829259 ],[ 3.67054169],[27.0944156 ], [4.72568078],[ 3.82361894],[27.64882815], [7.06929493],[ 3.97589108],[28.19711393], [9.41545033],[ 4.12799864],[28.74863343], [6.88569795],[ 4.04588092],[28.71465112], [4.35462631],[ 3.96590393],[28.65558535], [1.82374512],[ 3.88739733],[28.5767474 ], [-7.61873651],[-4.17006646],[15.85264069], [-6.52336284],[-4.27276853],[16.00434806], [-5.42639454],[-4.375587 ],[16.15374732], [-4.32823853],[-4.47851559],[16.3030692 ], [-3.2286759 ],[-4.581914 ],[16.45238781], [-2.12785921],[-4.68553991],[16.60127778], [-1.02581462],[-4.78970083],[16.74963005], [0.07746096],[-4.89343442],[16.89458024], [1.18204347],[-4.99807705],[17.04005582], [2.28769813],[-5.1028949 ],[17.18350066], [2.41323857],[-4.51451945],[17.40742503], [2.53897816],[-3.92582811],[17.63097404], [-3.23694242],[ 3.7230754 ],[28.34120761], [-5.76247817],[ 3.63529076],[28.18824665], [-8.28303807],[ 3.54251312],[28.01622498], [-10.7965339 ], [ 3.44420368],[ 27.82158908], [-13.30128796],[ 3.33950885],[ 27.61081806], [-15.79670924],[ 3.22971291],[ 27.38368363], [-15.67662443],[ 2.69176754],[ 27.44643405], [-15.53035104],[ 2.14003432],[ 27.3821291 ], [-15.37533219],[ 1.59069354],[ 27.19774241], [-15.21986949],[ 1.05984621],[ 26.90484057], [-15.06791124],[ 0.56169201],[ 26.52990026], [-14.91602495],[ 0.101534 ],[ 26.09931668], [-14.59951049],[ -0.72324798],[ 25.18482877], [-14.43061322],[ -1.11019423],[ 24.74977714], [-14.25843677],[ -1.49939839],[ 24.35408144], [-12.03561919],[ -1.66655548],[ 24.66001519], [-9.81418202],[-1.85745629],[25.02776588], [-7.58387946],[-2.06703024],[25.4523048 ], [-5.33683202],[-2.28634232],[25.9301971 ], [-3.06696795],[-2.50349066],[26.4540593 ], [-0.77133833],[-2.70344578],[27.01730903], [1.55104657],[-2.87274905],[27.61032289], [3.89371844],[-2.99695837],[28.21740965], [6.2510516 ],[-3.06451392],[28.82630677], [8.42141371],[-3.633064 ],[29.22925865], [8.23343721],[-4.20028124],[29.03962546], [8.04677693],[-4.76678543],[28.85138532], [7.85922467],[-5.33374361],[28.65840293], [7.67348716],[-5.90060333],[28.46572019], [7.48810416],[-6.46734802],[28.2722626 ], [7.30614913],[-7.03545105],[28.08484318], [7.12139581],[-7.60175787],[27.88695128], [6.93990038],[-8.16882934],[27.69440104], [6.75950563],[-8.73616189],[27.50152655], [4.61475964],[-8.35759804],[27.24387105], [2.47708456],[-8.02883363],[26.79123135], [-1.62106854],[-7.56139183],[25.49356842], [-3.54538313],[-7.38967315],[24.75998093], [-5.39819777],[-7.22479538],[24.04236463], [-7.20802572],[-7.04658043],[23.37785016], [-9.01163137],[-6.84628089],[22.79558044], [-10.84279579],[ -6.62881897],[ 22.31272354], [-12.72450427],[ -6.4078483 ],[ 21.93372129], [-12.89609158],[ -5.90666051],[ 21.84359786], [-13.0977233 ],[ -5.40178763],[ 21.82415022], [-13.31384693],[ -4.88532471],[ 21.86746617], [-13.52362252],[ -4.35715022],[ 21.96370236], [-13.70484116],[ -3.82201743],[ 22.08985974], [-13.92132371],[ -2.78021789],[ 22.3136256 ], [-13.95009631],[ -2.2983199 ],[ 22.33882235], [-13.94280444],[ -1.84919091],[ 22.261118 ], [-13.91903533],[ -1.42394983],[ 22.04756372], [-11.79453727],[ -1.47107728],[ 22.63867602], [-9.66568976],[-1.51303156],[23.23007915], [-7.53010553],[-1.55010946],[23.81938766], [-5.38987144],[-1.58169641],[24.4091039 ], [-3.24411048],[-1.60860179],[24.99742874], [-1.09313656],[-1.62943417],[25.58429844], [1.06220894],[-1.64436314],[26.1689715 ], [3.22223862],[-1.65381828],[26.75259768], [7.55601901],[-1.65507476],[27.91239821], [7.77308603],[-1.25227671],[27.70949359], [7.98698812],[-0.77924244],[27.48111848], [8.20808877],[-0.24035137],[27.24021905], [8.44652258],[ 0.35604804],[27.0034321 ], [8.7083773 ],[ 0.99808634],[26.78350405], [8.99775191],[ 1.6715963 ],[26.59178926], [9.31553826],[ 2.36271304],[26.44402531], [9.65800996],[ 3.05785712],[26.34759193], [10.01555132],[ 3.74444359],[26.30238494], [10.38053438],[ 4.41315337],[26.31505714], [7.96496956],[ 4.32552467],[26.10934223], [5.55337945],[ 4.24160465],[25.89788475], [3.14450296],[ 4.16227988],[25.67948139], [0.73877632],[ 4.08528555],[25.45708993], [-1.66356045],[ 4.0113828 ],[25.23507107], [-4.06372185],[ 3.93822602],[25.01122381], [-6.4620782 ],[ 3.8657905 ],[24.79089856], [-8.85981245],[ 3.79288322],[24.57929644], [-11.25755087],[ 3.71702485],[ 24.37258417], [-13.65489903],[ 3.63767404],[ 24.17225827] ], 'dist': [[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05 3.04891387e-04 ]]
Hello, I also encountered the same problem. May I ask how did you generate the R and T in the camera parameters later
hi @liken95
Below is the code for camera calibration, which will print outputs for R, k,t and dist. Be sure to adjust your path where your images are in line 24.
#!/usr/bin/env python
import cv2
import numpy as np
import os
import glob
# Defining the dimensions of checkerboard
CHECKERBOARD = (9,6)
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
# Creating vector to store vectors of 3D points for each checkerboard image
objpoints = []
# Creating vector to store vectors of 2D points for each checkerboard image
imgpoints = []
# Defining the world coordinates for 3D points
objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
prev_img_shape = None
# Extracting path of individual image stored in a given directory
images = glob.glob('./images/camera1/*.jpg')
for fname in images:
img = cv2.imread(fname)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
# Find the chess board corners
# If desired number of corners are found in the image then ret = true
ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH+
cv2.CALIB_CB_FAST_CHECK+cv2.CALIB_CB_NORMALIZE_IMAGE)
"""
If desired number of corner are detected,
we refine the pixel coordinates and display
them on the images of checker board
"""
if ret == True:
objpoints.append(objp)
# refining pixel coordinates for given 2d points.
corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
imgpoints.append(corners2)
# Draw and display the corners
img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2,ret)
cv2.imshow('img',img)
cv2.waitKey(1)
cv2.destroyAllWindows()
h,w = img.shape[:2]
"""
Performing camera calibration by
passing the value of known 3D points (objpoints)
and corresponding pixel coordinates of the
detected corners (imgpoints)
"""
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)
# print("Camera matrix : \n")
# print(mtx)
# print("dist : \n")
# print(dist)
# print("rvecs : \n")
# print(rvecs)
# print("tvecs : \n")
# print(tvecs)
# Obtain R,k,t
rotation_mat = np.zeros(shape=(3, 3))
R, _ = cv2.Rodrigues(rvecs[0], rotation_mat)
t = tvecs[0]
k = mtx
# Put in a npz
np.savez("camera1data.npz", R=R, dist=dist, k=k, t=t)
print("R:", R)
print("k:", k)
print("t:", t)
print("dist:", dist)