Tool/software: TI C/C++ Compiler
Hello TI!
I tried to perform pixel wise calibration as in it is shown in python scripts from github/3dtof/calibwizard/... .
But after applying per pixel correction output image on point cloud data was more bent than before.
Without calibration image on point cloud data is bent - it is clearly because phase is in spherical coordinate system is not "plane".
In application binary file average phase of flat wall on distance 82.6 cm (float data type, from left to right, from up to down) and matrix coefficients and distortion parameters (fx, fy, cx, cy, k1, k2, p1, p2, k3).
Points 3D are calculated below:
X = u/sqrt(1 + u*u)*phase, where u = (Px - cx)/Fx, Px = 0..319
Y = v/sqrt(1 + v*v)*phase, where v = (Py - cy)/Fy, Py = 0..239
Z = phase/sqrt(1 + u*u + v*v),
where "phase" - phase value converted to cm, at (Px, Py) phase value is undistort, Z has the same direction and origin as principle axis.
Where can be mistake in calculation/calibration..?
232.816345 232.166879 158.162289 114.683161 -0.195117 0.126535 0.000637 0.000999 0.000000
