returning images with precision mode, are they pre-undistorted?

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antithing
Posts: 6
Joined: Fri Mar 27, 2015 6:56 am

returning images with precision mode, are they pre-undistorted?

Post by antithing » Sun Nov 08, 2020 11:56 am

Hi, I am calling images using the camera SDK and a single Prime 13.

I set into precision mode, grab the images. then convert to opencv::Mat.

When doing this, are the frames already undistorted?

I am running a PnP solve on the markers found, and using this to get the camera intrinsics / distortion parameters:

Core::DistortionModel lensDistortion;
camera->GetDistortionModel(lensDistortion);

It seems like the results I get are better when I pass a zero matrix into the PnP solver for distortion params, implying that the frames are already undistorted. is this the case?

In a related question, how accurate can I expect these intrinsics to be?

Thanks!

steven.andrews
NaturalPoint Employee
NaturalPoint Employee
Posts: 590
Joined: Mon Jan 19, 2015 11:52 am

Re: returning images with precision mode, are they pre-undistorted?

Post by steven.andrews » Tue Nov 10, 2020 11:07 am

Hi antithing,

Thank you for reaching out to the community regarding your questions.
We believe the images should be distorted when you receive them, but it sounds like that is not the case in your experience.

The intrinsics supplied in the Camera SDK are estimates based on the camera model. We do not provide our calibrated intrinsics, but the estimates the SDK uses should be close enough for good results.

If you would like to look into this a little deeper, please feel free to reach out to our Support team directly and to provide some of the code you are using.

Best,
Steven
--
Steven Andrews
OptiTrack | Senior Customer Support Engineer
help.naturalpoint.com
support@optitrack.com

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