Calibration makes surround view stitching more distorted

[Tamme]

Hi.

I calibrated my cams using matlab. Initially the projection is totally messed up:

After i change some signs of values in the intrinsic calibration inverse mapping it becomes normal, but the fisheye effect is actually increased:

After tinkering with pitch (set it to 15 degs) I can get it to be less distorted, bus my cameras are definitely not at this angle.

Did you maybe use some other calibration setup, or have other ideas, what could be messed up?

Thank you!

[mrp1234567]

@Tamme need some help on surround view with libxcam, can you please list the steps you did ?

[Tamme]

Hi @mrp1234567. As mentioned, I used matlab ocam calib toolbox to get calibration values for the intrinsics. It has been some time, but I think then used this example as the executable to run the stitcher. And then I got some reasonable results with all zero extrinsics, I started modifying them, to make the result more correct.

Hope it helps.