Conventions in the kalibr software
kcop...@gmail.com
First I'd like to thank you for this package since it is very useful and quite well documented.
However, I have some questions concerning the result file.
1. When I do stereo cameras calibration, in the final file, I receive reprojection error sth like:
reprojection error: [-0.000197, -0.000907] +- [0.213612, 0.202732]
How is it calculated - how is it possible that it is negative. (and what are the to numbers in brackets - I guess it is azimuthal and polar error, but what number to which?)
On the other hand when I do cameras-imu calibration I receive: reprojection error squared. Is it just a RMS of reprojection error?
2. What is the coordinate frame convention of the cameras? There is a file generated at the end of calibration which displays poses of cameras in 3D but the axes of coordinate frames are not named. Should I assume: that z axis goes perpendicularly to the image, x is in the image plane and points to the right, and y is in the image plane and points downwards? Or the convention is different.
3. This question is connected to the previous one - there are polar and azimuthal reprojection errors mentioned, is the azimuthal error horizontal and the polar error vertical, or again - what is the convention?
I would be very grateful for the answers
Konrad