This application computes the coefficients for the FTheta model projection polynomial given existing manufacturer look-up-table. The tool extracts the intrinsics from the manufacturers specifications and outputs the model to an existing json rig configuration file, or alternatively to a new intrinsics file.
Note the tool does not estimate the f-theta model given april-tag or checkerboard images. For that support refer to Intrinsics Constraints Tool tool which is part of the calibration suite Static Camera Calibration.
A tool expects a file with a look-up table for the lense defintion which has following format: <header_row> <data_row_1> ... <data_row_N>
Where <header_row> is: Y Angle (deg) Tan Shift Sag Shift Real Height Ref. Height Distortion
and each <data_row_i> is of the form: 2.41642493 0.00008065 -0.00025752 0.27815842 0.27815015 0.00297360 %, with each float number to contain at least 2 digits after dot.
Expects the following arguments:
--name camera name, tool will output file named name.json unless existing rig configuration (to be modified) is specified (see –rigconfig)
--lut path to lens distortion lookup table
--pitch camera sensor pixel pitch (distance between pixels on sensor in um)
--width camera sensor image width (px)
--height camera sensor image height (px)
--rigconfig existing rig configuration file to modify (optional), tool will update intrinsics of camera with corresponding name (see –name)
--eepromFactoryConfig path to eeprom factory file to update. If intrinsics are not present, it adds as new fields. The file is saved under the same name with _updated added
--eepromWriteableConfig path to eeprom writeable parameters file to generate