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  • OpenCV Intrinsics not the same as Default OakD W Pro Intrinsics

Ran OpenCV's Intrinsic Calibration to improve calibration for our OakD W Pro. Can someone please explain why these intrinsics are so different compared to the default intrinsics from OakD? Is it possible the units are mismatched?

    Hi saiborg
    I don' think they are mismatched, just scaled differently. Notice the 1e-3 in the first matrix z coordinate as opposed to 1 in the second. They should both return a similar result (wide FOV does introduce more distortion though).

    Hope this helps,
    Jaka

      7 months later

      Hi @jakaskerl ,

      I'm facing the same issue, when using then OAK-D camera with Stella SLAM. With the default OAK-D camera intrinsics, the output of Stella SLAM is wrong. Then I used OpenCV calibration tools to calibrate the OAK-D camera and use that output for Stella SLAM, the output is pretty correct.

      With Intel Realsense camera intrinsics, the Stella SLAM works normally.

      Therefore, I don't know what is different between default OAK-D camera intrinsics and OpenCV calibration tools, because the OAK-D calibration tools use the same functions as OpenCV calibration tools.

      Can you explain the scale and how can I re-scale these OAK-D camera intrinsics, to get the same result as OpenCV calibration tools ?

      Many thanks in advance !

        Hi HiepNguyen
        Could you post an example of intrinsics you are receiving? Afaik the common practice is to keep bottom right value of a homogenous matrix 1.

        Thanks,
        Jaka