World2Cam Projection

[som...@gmail.com]

Dear Prof Dr. Scaramuzza

 I am calibrating a fish eye camera > 180-degree FOV, with your toolbox. To verify the results further, I am using a set of GroundTruth 3D points ( measured with high accuracy) to project onto an image of those ground truth markers using World2Cam() available as part of your toolbox.

However, the results are a bit contradictory

1) Using the affine transformation coefficient (c,d,e ) as (1,0,0) gives a better result ( reprojection error is low) than using the affine transformation (1.011514 -0.004335 0.005213) obtained from the calibration tool.

The calibration reprojection error (as an output of toolbox: analyze error ) is indeed low

I would appreciate your response and look forward to your feedback.

Regards

Somnath Dutta