Calibrating GoPro with non standard lenses.

[cateure]

I am using a GoPro with non-standard fisheye lens. So now I need to calibrate the camera to get better SLAM performance.

• Which process do you follow to calibrate the camera using OpenICC?
• And how/where is that information used in the UMI pipeline?

Thanks!

[MarioCavero]

The OpenICC will output you some calibration values. The first file can be directly used in the .json config of universal_manipulation_interface. From my experience, There is some info missing in OpenICC and the calibration worked regular with a non-standard lense but still managed to get some accuracy in normal settings.

The other files obtained can be used in the .yaml file in ORBSLAM3/Examples/Monocular-Intertial/whatver_calib.yaml, which will be the ones with specific parameters for SLAM and orbslam3 tuning @cateure