tutorial.md

Before Calibration

1. What kind of camera are you calibrating?
   • Global shutter camera -> You can record a video and convert it to images, or take photos.
   • Rolling shutter camera -> Make sure you only take photos while the camera is static.
2. Print a custom board and get the board configuration JSON. See the Generate Chart PDF section. If you don't care about camera-to-camera extrinsic parameters, you can print the board in any size. MAKE SURE THE BOARD IS FLAT!
3. Ensure that the folder structure follows the supported dataset format.

Run Calibration

1. What camera model should I use?

   • Wide FoV camera -> kb4 or eucm
   • Other models -> opencv5
   • If you know of other models, you probably don't need my recommendation.
   • My favorite -> EUCMT

2. Use rerun to analyze the result. You can click rep_err and adjust the visible time range from the beginning to see the accumulated reprojection errors.

   For example, using the kb4 model with only two distortion parameters. This shows that the edges have higher errors:

   Use the kb4 model with four distortion parameters:

Calibration Tips

• If two distortion parameters are enough, don't use more. Using more distortion parameters can cause overfitting.
• --one-focal is highly recommended.
• Make sure your dataset covers multiple angles and distances, like the example dataset.