Static calibration recorder tool for pinhole camera model

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description

Hi,
I’m using the static calibration recorder tool (DriveWorks SDK Reference: Static Calibration Recorder Tool) with the supported Entron F008A120RM0AV2 camera sensor and the checkerboard_14x9_74mm_A0.pdf checkerboard as instructed at DriveWorks SDK Reference: Static Camera Calibration Tutorial .
I couldn’t find an option to perform intrinsics calibration for the pinhole camera model. It only outputs calibration for the ftheta model, no matter if I do it with images/video/rig.
My questions:

  1. Is it possible to use the tool for intrinsics calibration of pinhole camera model? If so, how?
  2. Assuming I will perform the intrinsics calibration for pinhole camera myself and create a corresponding rig file, should the extrinsics calibration work?
  3. Can you confirm that rectification functions have support for pinhole camera model? In the samples it seems they should but if it’s deprecated I’d like to know

Thanks,
Alon

2

You mean, the model name is noticed as “Model”: “ftheta” in rig.json after calibration ? Did you pass any initial rig file as input?

3

When I ran with the --rig option it performed calibration for model=ftheta regardless of if the rig contained “Model”: “ftheta” or “Model”: “pinhole”.
When I ran with the --video OR --image options (without the rig, as described in the tutorial) it also always performs calibration for the ftheta model.

6

The camera model is set to ftheta always

Can you try changing model to pinhole in output json file of calibration-recorder (intrinsics_constraints.json) and feed into calibration-graph-cli. We are testing only ftheta.

7

I will use the tools with ftheta.

9

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