config/
|- intrinsics.ini
|- extrinsics.ini
|- reprojection_config.ini
topbot/
|- 000000000.tiff
|- 000000001.tiff
|- ...
Images must be saved as tiffs in an RGB or Raw Bayer format. The left frame must be vertically concatenated on top of the right frame.
See this site for more details:
https://nodarsensor.notion.site/Intrinsics-Configuration-File-1ae7c0386988805d91cde075ab5d6e7a
# [bool] Enable rectification
enable_rectification = 1
# Camera Intrinsics
# The following models are supported:
# 0: OpenCV Pinhole Model
# 1: OpenCV Fisheye Model
i1_model = 0
i1_fx = 5368.72291
i1_fy = 5368.72291
i1_cx = 1458.95296
i1_cy = 936.28799
i1_k1 = -0.13332
i1_k2 = 0.98883
i1_k3 = -5.9473
i1_k4 = 0.0
i1_k5 = 0.0
i1_k6 = 0.0
i1_p1 = 0.001
i1_p2 = 0.00053
i2_model = 0
i2_fx = 5370.75916
i2_fy = 5370.75916
i2_cx = 1431.27415
i2_cy = 935.70973
i2_k1 = -0.13181
i2_k2 = 0.80715
i2_k3 = -3.7122
i2_k4 = 0.0
i2_k5 = 0.0
i2_k6 = 0.0
i2_p1 = -6e-05
i2_p2 = -0.00035
See this site for more details: https://nodarsensor.notion.site/Extrinsics-Configuration-File-1ae7c0386988804bba84ed6a04c9e130
phi = 0
theta = 0
psi = 0
T1 = 1
T2 = 0
T3 = 0
The view of the rectified image can be specified in this configuration file. It contains the specification of the intrinsics of the rectified image. This configuration will be applied to all frames.
We recommend using Nodar’s default rectification parameters by specifying the following:
method = default
The user can specify their desired rectification parameters to adjust the rectification plane. The fx and fy are the focal lengths of the rectified image in x and y directions, and the cx and cy are the camera center pixel in the rectified image. The stereo depth results are highly sensitive to the rectification parameters, and these parameters should be adjusted with caution.
method = fixed_view
fixedview_fx = 2000.0
fixedview_fy = 2000.0
fixedview_cx = 1440.0
fixedview_cy = 930.0
Please contact [email protected] if you would like to introduce additional modifications to the camera rectification.