TUM RGBD

Camera intrinsics

ROS默认参数 fx = 525.0 # focal length x fy = 525.0 # focal length y cx = 319.5 # optical center x cy = 239.5 # optical center y

标定后的结果 Camera fx fy cx cy d0 d1 d2 d3 d4 (ROS default) 525.0 525.0 319.5 239.5 0.0 0.0 0.0 0.0 0.0 Freiburg 1 RGB 517.3 516.5 318.6 255.3 0.2624 -0.9531 -0.0054 0.0026 1.1633 Freiburg 2 RGB 520.9 521.0 325.1 249.7 0.2312 -0.7849 -0.0033 -0.0001 0.9172 Freiburg 3 RGB 535.4 539.2 320.1 247.6 0 0 0 0 0