xdspacelab
fisheye focal_x_baseline setting
I run the opencv fisheye calibration code. Got the perimeter as below. But stuck on focal_x_baseline. I read the opencv documentation all over again. Still have no clue. Can anyone help me on this?
Camera.name: "None" Camera.setup: "monocular" Camera.model: "fisheye"
Camera.fx: 1002.056579 Camera.fy: 999.0578903 Camera.cx: 904.9469381 Camera.cy: 497.8674064
Camera.k1: -0.03192781 Camera.k2: 0.557438388 Camera.k3: -0.91124765 Camera.k4: 0.645854855
Camera.fps: 30.0
Camera.cols: 1920
Camera.rows: 1080
Camera.color_order: "Gray" # please reconfigure according to your camera
Camera.focal_x_baseline: ????????
There is another issue: in run_camera_slam , i notice when opencv open up uvc camera it doesn't specify the resolution. I added two line to set the width and height. And then recompile the project. Is this the right way to fix it?
Camera.focal_x_baseline: ????????
If your setup is monocular, the focal_x_baseline is unused. You don't have to specify that. Here's a reference explaining what that baseline is in a stereo setup: https://docs.opencv.org/master/dd/d53/tutorial_py_depthmap.html.
in run_camera_slam , i notice when opencv open up uvc camera it doesn't specify the resolution. I added two line to set the width and height. And then recompile the project. Is this the right way to fix it?
I think you can do that. But also, the example gave command line option --scale for changing resolution. It is certainly less ideal than setting the resolution directly through OpenCV, but I guess not all cameras support changing resolutions directly through OpenCV APIs. So if you don't want to modify the source code, run_camera_slam ... --scale <x> is the way to go.
