{"action":"created","issue":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/583","repository_url":"https://api.github.com/repos/raulmur/ORB_SLAM2","labels_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/583/labels{/name}","comments_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/583/comments","events_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/583/events","html_url":"https://github.com/raulmur/ORB_SLAM2/issues/583","id":329581899,"node_id":"MDU6SXNzdWUzMjk1ODE4OTk=","number":583,"title":"OpenCV Matrix to calibration file ","user":{"login":"antonyleme","id":36122235,"node_id":"MDQ6VXNlcjM2MTIyMjM1","avatar_url":"https://avatars1.githubusercontent.com/u/36122235?v=4","gravatar_id":"","url":"https://api.github.com/users/antonyleme","html_url":"https://github.com/antonyleme","followers_url":"https://api.github.com/users/antonyleme/followers","following_url":"https://api.github.com/users/antonyleme/following{/other_user}","gists_url":"https://api.github.com/users/antonyleme/gists{/gist_id}","starred_url":"https://api.github.com/users/antonyleme/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/antonyleme/subscriptions","organizations_url":"https://api.github.com/users/antonyleme/orgs","repos_url":"https://api.github.com/users/antonyleme/repos","events_url":"https://api.github.com/users/antonyleme/events{/privacy}","received_events_url":"https://api.github.com/users/antonyleme/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-06-05T18:52:58Z","updated_at":"2018-06-06T02:12:36Z","closed_at":null,"author_association":"NONE","body":"Hello. I am trying to make my own sequence and calibrate my camera and make the yaml file, so I've already calibrated the camera with opencv and I got this result:\r\n\r\n```\r\n%YAML:1.0\r\n---\r\nimage_width:1280\r\nimage_height:720\r\ncamera_matrix: !!opencv-matrix\r\n rows: 3\r\n cols: 3\r\n dt: f\r\n data: [1038.87, 0, 639.47, 0, 1043.82, 355.943, 0, 0, 1 ]\r\ndistortion_coefficients: !!opencv-matrix\r\n rows: 1\r\n cols: 5\r\n dt: f\r\n data: [0.273952, -1.30094, -0.00045381, -0.000324383, 1.88161 ]\r\n```\r\nHow do I apply this to orb slam? I saw the yaml file from kitti dataset and I have no idea of where to apply this values. Can someone help me? This is from kitti.yaml:\r\n\r\n```\r\n%YAML:1.0\r\n\r\n#--------------------------------------------------------------------------------------------\r\n# Camera Parameters. Adjust them!\r\n#--------------------------------------------------------------------------------------------\r\n\r\n# Camera calibration and distortion parameters (OpenCV) \r\nCamera.fx: 718.856\r\nCamera.fy: 718.856\r\nCamera.cx: 607.1928\r\nCamera.cy: 185.2157\r\n\r\nCamera.k1: 0.0\r\nCamera.k2: 0.0\r\nCamera.p1: 0.0\r\nCamera.p2: 0.0\r\n\r\n# Camera frames per second \r\nCamera.fps: 10.0\r\n\r\n# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)\r\nCamera.RGB: 1\r\n\r\n#--------------------------------------------------------------------------------------------\r\n# ORB Parameters\r\n#--------------------------------------------------------------------------------------------\r\n\r\n# ORB Extractor: Number of features per image\r\nORBextractor.nFeatures: 2000\r\n\r\n# ORB Extractor: Scale factor between levels in the scale pyramid \t\r\nORBextractor.scaleFactor: 1.2\r\n\r\n# ORB Extractor: Number of levels in the scale pyramid\t\r\nORBextractor.nLevels: 8\r\n\r\n# ORB Extractor: Fast threshold\r\n# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.\r\n# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST\r\n# You can lower these values if your images have low contrast\t\t\t\r\nORBextractor.iniThFAST: 20\r\nORBextractor.minThFAST: 7\r\n\r\n#--------------------------------------------------------------------------------------------\r\n# Viewer Parameters\r\n#--------------------------------------------------------------------------------------------\r\nViewer.KeyFrameSize: 0.1\r\nViewer.KeyFrameLineWidth: 1\r\nViewer.GraphLineWidth: 1\r\nViewer.PointSize:2\r\nViewer.CameraSize: 0.15\r\nViewer.CameraLineWidth: 2\r\nViewer.ViewpointX: 0\r\nViewer.ViewpointY: -10\r\nViewer.ViewpointZ: -0.1\r\nViewer.ViewpointF: 2000\r\n```\r\n"},"comment":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/comments/394917432","html_url":"https://github.com/raulmur/ORB_SLAM2/issues/583#issuecomment-394917432","issue_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/583","id":394917432,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NDkxNzQzMg==","user":{"login":"antonyleme","id":36122235,"node_id":"MDQ6VXNlcjM2MTIyMjM1","avatar_url":"https://avatars1.githubusercontent.com/u/36122235?v=4","gravatar_id":"","url":"https://api.github.com/users/antonyleme","html_url":"https://github.com/antonyleme","followers_url":"https://api.github.com/users/antonyleme/followers","following_url":"https://api.github.com/users/antonyleme/following{/other_user}","gists_url":"https://api.github.com/users/antonyleme/gists{/gist_id}","starred_url":"https://api.github.com/users/antonyleme/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/antonyleme/subscriptions","organizations_url":"https://api.github.com/users/antonyleme/orgs","repos_url":"https://api.github.com/users/antonyleme/repos","events_url":"https://api.github.com/users/antonyleme/events{/privacy}","received_events_url":"https://api.github.com/users/antonyleme/received_events","type":"User","site_admin":false},"created_at":"2018-06-06T02:12:36Z","updated_at":"2018-06-06T02:12:36Z","author_association":"NONE","body":"I've solved this with what here in brazil we call \"chutometro\". I tested the values until it works well. To who have the same doubt, I used according to TUM1.yaml as following:\r\n\r\n```\r\n%YAML:1.0\r\n---\r\nimage_width:1280\r\nimage_height:720\r\ncamera_matrix: !!opencv-matrix\r\n rows: 3\r\n cols: 3\r\n dt: f\r\n data: [(Camera.fx)1038.87, 0, (Camera.cx)639.47, 0, (Camera.fy)1043.82, (Camera.cy)355.943, 0, 0, 1 ]\r\ndistortion_coefficients: !!opencv-matrix\r\n rows: 1\r\n cols: 5\r\n dt: f\r\n data: [(Camera.k1)0.273952, (Camera.k2)-1.30094, (Camera.p1)-0.00045381, (Camera.p1)-0.000324383, (Camera.k3)1.88161 ]\r\n```\r\nI dont know if it is completely right, but it worked very well actually and for now it's enough for me. If it is wrong and someone could explain the right way, I would appreciate that. Thanks "}}
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