erik
Hello !
Thanks. I used my oak-d lite camera to do some records, and I believe that the calibration of this camera is not good. When did a test by visualizing the rectifiedLeft-rectifedRight (aligned with RGB), I observe a huge vertical shift (1-2 pixels between left-right).
To be able to correct these records, I want to understand your calib.json file and your alignement process so that I can correct the records that I made.
This is the calibration file. In the calibration, i found the last part (rectified rotation). Can I use those metrics to revert the rectification please ?
{
"batchName": "",
"batchTime": 0,
"boardConf": "",
"boardCustom": "",
"boardName": "OAK-D-LITE",
"boardOptions": 0,
"boardRev": "R1M1E3",
"cameraData": [
[
2,
{
"cameraType": 0,
"distortionCoeff": [
-12.104032516479492,
77.64612579345703,
0.001263035461306572,
0.0022347013000398874,
-77.21680450439453,
-12.094476699829102,
77.58488464355469,
-77.23764038085938,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9999452233314514,
0.0073130750097334385,
0.007484255824238062
],
[
-0.007313414476811886,
0.9999732375144958,
1.7986509192269295e-05
],
[
-0.007483924273401499,
-7.272099173860624e-05,
0.9999719858169556
]
],
"specTranslation": {
"x": 3.75,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": 3.7195262908935547,
"y": -0.08316565304994583,
"z": 0.026069268584251404
}
},
"height": 480,
"intrinsicMatrix": [
[
453.2582092285156,
0.0,
336.7252197265625
],
[
0.0,
453.2582092285156,
258.0137939453125
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 72.9000015258789,
"width": 640
}
],
[
1,
{
"cameraType": 0,
"distortionCoeff": [
-9.763245582580566,
37.59429168701172,
-0.0005994563107378781,
6.300376116996631e-05,
-37.508628845214844,
-9.76201057434082,
37.57674026489258,
-37.51167297363281,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9999633431434631,
-0.0022503056097775698,
-0.008261280134320259
],
[
0.002276295330375433,
0.9999924898147583,
0.0031379053834825754
],
[
0.008254156447947025,
-0.0031565953977406025,
0.9999609589576721
]
],
"specTranslation": {
"x": -7.5,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.500237464904785,
"y": 0.01437666080892086,
"z": -0.12574531137943268
}
},
"height": 480,
"intrinsicMatrix": [
[
457.1339111328125,
0.0,
323.1533508300781
],
[
0.0,
457.1339111328125,
249.11166381835938
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 72.9000015258789,
"width": 640
}
],
[
0,
{
"cameraType": 0,
"distortionCoeff": [
-4.017131328582764,
7.194274425506592,
0.0006911047967150807,
-0.0003079548478126526,
-2.7309975624084473,
-4.1296186447143555,
7.666990280151367,
-3.326430320739746,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": -0.0,
"y": -0.0,
"z": -0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"height": 2160,
"intrinsicMatrix": [
[
3003.086181640625,
0.0,
1863.3856201171875
],
[
0.0,
3003.086181640625,
1119.2449951171875
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 68.7938003540039,
"width": 3840
}
]
],
"hardwareConf": "",
"imuExtrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"miscellaneousData": [],
"productName": "",
"stereoRectificationData": {
"leftCameraSocket": 1,
"rectifiedRotationLeft": [
[
0.9992857575416565,
0.03516098111867905,
0.013843906112015247
],
[
-0.0351836197078228,
0.9993798732757568,
0.0013948403066024184
],
[
-0.01378627773374319,
-0.0018809227040037513,
0.9999032020568848
]
],
"rectifiedRotationRight": [
[
0.9990556240081787,
0.03747883066534996,
0.021980637684464455
],
[
-0.03744276240468025,
0.9992966651916504,
-0.0020502633415162563
],
[
-0.02204201929271221,
0.0012253113090991974,
0.9997562766075134
]
],
"rightCameraSocket": 2
},
"version": 6
}
