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why the calibrated intrinsic matrix drifts a lot from the true value? #2

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yyxr75 opened this issue May 23, 2019 · 1 comment
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@yyxr75
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yyxr75 commented May 23, 2019

Hello there,
I was using this demo to calibrating my own camera while the result showed a unacceptable drifts from the truth.
OpenCV version 3.2.0
Python version 3.6.7
The input images series is like below:

Infrared1-0

and the corresponding detected images is
outimg1

There is one problem I am not that sure is, the asymmetric calibration target I used has a differently distance between the columns and rows which could be seen clearly from my code
longerCalibrate.txt

Finally, the result of intrinsic calibration is

camera_matrix:

  • [451.6701112652139, 0.0, 777.2304056394676]
  • [0.0, 469.37232191132745, 321.2437268938009]
  • [0.0, 0.0, 1.0]
    dist_coeff:
  • [-0.1705178885286108, 0.013773972732487686, 0.0012506566857040959, 0.004203751684462792,
    0.006202670677996154]

but actually, the intrinsic matrix should be
9.543190920000000000e+02 0.000000000000000000e+00 6.399660030000000000e+02 0.000000000000000000e+00 9.543190920000000000e+02 3.634058530000000000e+02 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00

this is true because the resolution of these pictures is 1280x720, more reasonable

So the question is, is there anything wrong with my code or is it a kernel problem of the opencv function?

@kjyothiswaroop
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The reprojection error seems to be very high when compared to the method conducted using a square checkerboard. Any specific reason for the same?

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