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Camera calibration format #4

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jamalknight opened this issue Jan 5, 2021 · 3 comments
Open

Camera calibration format #4

jamalknight opened this issue Jan 5, 2021 · 3 comments

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@jamalknight
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Hi,
I am trying to collect the correct camera calibration data for my own dataset in this format:

[
    {
        'id':   3, // optional
        'R':    [ /* 3x3 rotation matrix */ ],
        'k':    [ /* 3x3 calibration/instrinsics matrix */ ],
        't':    [ /* 3x1 translation matrix */ ],
        'dist': [ /* 5x1 distortion coefficients */ ]
    }.
]

However, when using the OpenCV method of camera calibration the output is in this format (below)
The Rotation matrix and translation matrix are in a different format (vectors?)
How do I get the correct format?
Thanks

Camera matrix :

[[1.44644326e+03 0.00000000e+00 9.59836634e+02]
[0.00000000e+00 1.44646498e+03 5.39556895e+02]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]

dist :

[[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
3.04891387e-04]]

rvecs :

[array([[0.10322433],
[0.00586084],
[0.01965572]]), array([[ 0.02876875],
[-0.03474045],
[ 0.01824509]]), array([[ 0.03467534],
[-0.05020887],
[ 0.01830534]]), array([[ 0.03556834],
[-0.05399128],
[-0.0484105 ]]), array([[ 0.03717584],
[ 0.08012789],
[-0.04607123]]), array([[ 0.01846599],
[-0.11597159],
[-0.05320749]]), array([[ 0.10165191],
[-0.07348809],
[ 0.02913424]]), array([[-0.05693991],
[-0.011658 ],
[ 0.01366273]]), array([[ 0.30802603],
[-0.10069939],
[ 0.10513563]]), array([[0.0610907 ],
[0.44109706],
[0.11019328]]), array([[-0.19697588],
[-0.04283537],
[ 0.03067312]]), array([[-0.13900922],
[-0.2246676 ],
[ 0.03297445]]), array([[-0.1011033 ],
[ 0.42317815],
[ 0.14566023]]), array([[0.09366817],
[0.00607288],
[0.0197487 ]]), array([[0.08399034],
[0.00614608],
[0.01978352]]), array([[0.07426776],
[0.00604659],
[0.01976052]]), array([[0.06450547],
[0.0055183 ],
[0.01971954]]), array([[0.05460176],
[0.00494075],
[0.01961118]]), array([[0.04475805],
[0.00400285],
[0.01945504]]), array([[0.03487713],
[0.00280646],
[0.01928059]]), array([[ 0.03351362],
[-0.00343919],
[ 0.01905554]]), array([[ 0.03243555],
[-0.00973823],
[ 0.01882941]]), array([[ 0.0310162 ],
[-0.01598584],
[ 0.01867843]]), array([[ 0.03049254],
[-0.02229135],
[ 0.01850028]]), array([[ 0.02964575],
[-0.02886133],
[ 0.01845228]]), array([[ 0.02843749],
[-0.04118144],
[ 0.01820741]]), array([[ 0.027988 ],
[-0.0472495 ],
[ 0.01814665]]), array([[ 0.02716986],
[-0.05361597],
[ 0.01811481]]), array([[ 0.02688923],
[-0.05968937],
[ 0.01804434]]), array([[ 0.02779733],
[-0.05870588],
[ 0.01810973]]), array([[ 0.02871731],
[-0.05767375],
[ 0.01813291]]), array([[ 0.02957412],
[-0.05654344],
[ 0.01815416]]), array([[ 0.03037135],
[-0.0554144 ],
[ 0.01819777]]), array([[ 0.03125682],
[-0.05465253],
[ 0.01824934]]), array([[ 0.03198659],
[-0.0534214 ],
[ 0.01822905]]), array([[ 0.03292994],
[-0.05217291],
[ 0.01826689]]), array([[ 0.03389497],
[-0.05133067],
[ 0.01830513]]), array([[ 0.03568775],
[-0.04904374],
[ 0.01839013]]), array([[ 0.03567725],
[-0.05145943],
[ 0.01169535]]), array([[ 0.03553939],
[-0.05379552],
[ 0.00499246]]), array([[ 0.03557365],
[-0.05603038],
[-0.00168168]]), array([[ 0.03554298],
[-0.05841379],
[-0.00836349]]), array([[ 0.03572186],
[-0.06072667],
[-0.01503664]]), array([[ 0.03575173],
[-0.06303097],
[-0.02172327]]), array([[ 0.0361487 ],
[-0.06531335],
[-0.02838113]]), array([[ 0.03615495],
[-0.06766396],
[-0.03500657]]), array([[ 0.03636102],
[-0.06999564],
[-0.0416864 ]]), array([[ 0.03663928],
[-0.07213835],
[-0.04834239]]), array([[ 0.03613996],
[-0.06324022],
[-0.0483991 ]]), array([[ 0.03518512],
[-0.04457608],
[-0.04832746]]), array([[ 0.03496729],
[-0.03495072],
[-0.04821182]]), array([[ 0.03525891],
[-0.02573156],
[-0.04808373]]), array([[ 0.03519819],
[-0.01630115],
[-0.04787894]]), array([[ 0.03557333],
[-0.00677863],
[-0.0476355 ]]), array([[ 0.03654236],
[ 0.00295582],
[-0.04731691]]), array([[ 0.03748246],
[ 0.01259579],
[-0.04699502]]), array([[ 0.03849325],
[ 0.0223351 ],
[-0.04656495]]), array([[ 0.0378291 ],
[ 0.03377083],
[-0.04661988]]), array([[ 0.0373468 ],
[ 0.04492803],
[-0.04655054]]), array([[ 0.0370422 ],
[ 0.05682901],
[-0.04640478]]), array([[ 0.03702993],
[ 0.06839694],
[-0.04629415]]), array([[ 0.03741903],
[ 0.09169926],
[-0.04576833]]), array([[ 0.03805815],
[ 0.10364171],
[-0.04547383]]), array([[ 0.03860977],
[ 0.11547035],
[-0.0450544 ]]), array([[ 0.03996408],
[ 0.12723619],
[-0.04472855]]), array([[ 0.04127252],
[ 0.13904516],
[-0.04427556]]), array([[ 0.02988295],
[ 0.10598679],
[-0.04712711]]), array([[ 0.02129357],
[ 0.07288558],
[-0.0495296 ]]), array([[ 0.01486569],
[ 0.04006551],
[-0.05144872]]), array([[ 0.01107139],
[ 0.00760604],
[-0.05289524]]), array([[ 0.00931909],
[-0.02469899],
[-0.05377705]]), array([[ 0.01011569],
[-0.05546574],
[-0.05418065]]), array([[ 0.01308388],
[-0.0862145 ],
[-0.05398944]]), array([[ 0.02539993],
[-0.14478329],
[-0.05190197]]), array([[ 0.03421056],
[-0.17195762],
[-0.05013324]]), array([[ 0.03940709],
[-0.16280336],
[-0.04242425]]), array([[ 0.04495138],
[-0.15361656],
[-0.03467084]]), array([[ 0.05109064],
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[-0.0268123 ]]), array([[ 0.05742325],
[-0.13612306],
[-0.01898232]]), array([[ 0.06439736],
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[-0.11971874],
[-0.003183 ]]), array([[ 0.07896143],
[-0.11181481],
[ 0.00474868]]), array([[ 0.08715167],
[-0.10438608],
[ 0.01278411]]), array([[ 0.09561111],
[-0.09718168],
[ 0.02075846]]), array([[ 0.1044322 ],
[-0.09021456],
[ 0.02880461]]), array([[ 0.09971569],
[-0.05697319],
[ 0.02968208]]), array([[ 0.0980634 ],
[-0.03978327],
[ 0.03019855]]), array([[ 0.09687983],
[-0.02279768],
[ 0.03095413]]), array([[ 0.09633085],
[-0.0057622 ],
[ 0.03181397]]), array([[0.09653789],
[0.01137864],
[0.03269646]]), array([[0.09653923],
[0.02895417],
[0.03380738]]), array([[0.09753421],
[0.04658338],
[0.0349351 ]]), array([[0.0992599 ],
[0.0638449 ],
[0.03628648]]), array([[0.10127923],
[0.08142823],
[0.03766291]]), array([[0.05844177],
[0.06393778],
[0.03176851]]), array([[0.01760905],
[0.04224549],
[0.02582513]]), array([[-0.02103805],
[ 0.01714929],
[ 0.01972768]]), array([[ 0.13053995],
[-0.13185105],
[ 0.00974808]]), array([[ 0.12843456],
[-0.11722955],
[ 0.01031913]]), array([[ 0.12695212],
[-0.10256126],
[ 0.01104121]]), array([[ 0.12624114],
[-0.0876771 ],
[ 0.01185421]]), array([[ 0.12566218],
[-0.07267249],
[ 0.01278509]]), array([[ 0.12579632],
[-0.05735235],
[ 0.01387445]]), array([[ 0.12638359],
[-0.0421282 ],
[ 0.01504203]]), array([[ 0.12734985],
[-0.02702861],
[ 0.01628402]]), array([[ 0.1290801 ],
[-0.01163635],
[ 0.01765662]]), array([[0.13127712],
[0.0036921 ],
[0.01914791]]), array([[0.12207521],
[0.0046558 ],
[0.0193463 ]]), array([[0.11269308],
[0.00533789],
[0.01952478]]), array([[-0.08967877],
[-0.04376131],
[ 0.00774083]]), array([[-0.11941828],
[-0.07925056],
[ 0.00204692]]), array([[-0.1454916 ],
[-0.11696271],
[-0.00333265]]), array([[-0.1675641 ],
[-0.1573031 ],
[-0.00832662]]), array([[-0.18607216],
[-0.19960762],
[-0.01274968]]), array([[-0.2005398 ],
[-0.24355475],
[-0.0167385 ]]), array([[-0.14039336],
[-0.16271505],
[ 0.00628496]]), array([[-0.06705754],
[-0.10160029],
[ 0.02908743]]), array([[ 0.01326019],
[-0.06230612],
[ 0.05041263]]), array([[ 0.0960622 ],
[-0.04449067],
[ 0.06949887]]), array([[ 0.17544689],
[-0.04634389],
[ 0.08522649]]), array([[ 0.24728927],
[-0.06614863],
[ 0.09715182]]), array([[ 0.35446342],
[-0.14534241],
[ 0.10908152]]), array([[ 0.38539402],
[-0.19648518],
[ 0.10935265]]), array([[ 0.40068516],
[-0.24843512],
[ 0.10645312]]), array([[ 0.4289201 ],
[-0.18637292],
[ 0.11771753]]), array([[ 0.44484721],
[-0.11682918],
[ 0.12753298]]), array([[ 0.44708468],
[-0.04181391],
[ 0.13547181]]), array([[0.43528193],
[0.03636956],
[0.14121547]]), array([[0.40844847],
[0.11550975],
[0.14420246]]), array([[0.36667462],
[0.19288141],
[0.14422624]]), array([[0.3101974 ],
[0.266351 ],
[0.14098314]]), array([[0.23987336],
[0.33361671],
[0.13430372]]), array([[0.15648128],
[0.39266557],
[0.12400402]]), array([[0.06173157],
[0.42652433],
[0.10944694]]), array([[0.06205619],
[0.4117478 ],
[0.10890919]]), array([[0.06201045],
[0.39714842],
[0.1084275 ]]), array([[0.06285113],
[0.38235055],
[0.1078152 ]]), array([[0.06375749],
[0.36747543],
[0.10724109]]), array([[0.06470036],
[0.352857 ],
[0.10670031]]), array([[0.06506839],
[0.33881657],
[0.10640113]]), array([[0.06612846],
[0.32347699],
[0.10580073]]), array([[0.06701756],
[0.3091255 ],
[0.10542839]]), array([[0.06862262],
[0.29486992],
[0.10495771]]), array([[-0.05302695],
[ 0.19830796],
[ 0.07602803]]), array([[-0.14232847],
[ 0.08277688],
[ 0.05073745]]), array([[-0.21774921],
[-0.16961981],
[ 0.01694203]]), array([[-0.20704163],
[-0.28890978],
[ 0.01018257]]), array([[-0.16954777],
[-0.39282166],
[ 0.01049646]]), array([[-0.11180395],
[-0.47588849],
[ 0.01746095]]), array([[-0.04113122],
[-0.53427107],
[ 0.03011798]]), array([[ 0.03480776],
[-0.56616622],
[ 0.04722538]]), array([[ 0.10743273],
[-0.57288792],
[ 0.06692612]]), array([[ 0.04709503],
[-0.55724037],
[ 0.05204467]]), array([[-0.01233936],
[-0.52333596],
[ 0.03981064]]), array([[-0.06561062],
[-0.47104485],
[ 0.03105644]]), array([[-0.10753099],
[-0.40130808],
[ 0.02678977]]), array([[-0.13322331],
[-0.3176376 ],
[ 0.02733897]]), array([[-0.12154509],
[-0.12695985],
[ 0.04361731]]), array([[-0.07953874],
[-0.03061587],
[ 0.05871882]]), array([[-0.01299762],
[ 0.05758161],
[ 0.07743038]]), array([[0.07690079],
[0.13163967],
[0.09874222]]), array([[0.05924685],
[0.16516787],
[0.10484263]]), array([[0.04108452],
[0.19815769],
[0.11074048]]), array([[0.02249052],
[0.23118179],
[0.11639785]]), array([[0.00318595],
[0.26374743],
[0.12185212]]), array([[-0.01658914],
[ 0.29616878],
[ 0.1271042 ]]), array([[-0.03709911],
[ 0.32838984],
[ 0.13212863]]), array([[-0.05797423],
[ 0.36015046],
[ 0.13688942]]), array([[-0.07940517],
[ 0.39186655],
[ 0.1414372 ]]), array([[-0.12421278],
[ 0.45450897],
[ 0.14988746]]), array([[-0.02027904],
[ 0.40946676],
[ 0.16321869]]), array([[0.07206196],
[0.35343336],
[0.17297331]]), array([[0.1522359 ],
[0.28748761],
[0.17897129]]), array([[0.21888208],
[0.21381116],
[0.1812202 ]]), array([[0.27147827],
[0.13449869],
[0.17980693]]), array([[0.30902299],
[0.05123254],
[0.17499767]]), array([[ 0.33118207],
[-0.03327948],
[ 0.16696734]]), array([[ 0.33800658],
[-0.11694237],
[ 0.15595736]]), array([[ 0.32980645],
[-0.19779851],
[ 0.14229471]]), array([[ 0.30719502],
[-0.27357063],
[ 0.12652331]]), array([[ 0.3209136 ],
[-0.28285912],
[ 0.14107921]]), array([[ 0.33371294],
[-0.29456343],
[ 0.15515309]]), array([[ 0.34558165],
[-0.3086057 ],
[ 0.16873544]]), array([[ 0.35567916],
[-0.32498616],
[ 0.18178202]]), array([[ 0.36381888],
[-0.34333639],
[ 0.19416744]]), array([[ 0.36976401],
[-0.36345518],
[ 0.20597662]]), array([[ 0.37327916],
[-0.38496579],
[ 0.21710015]]), array([[ 0.37368722],
[-0.40757291],
[ 0.22755185]]), array([[ 0.37136296],
[-0.43058458],
[ 0.23737914]]), array([[ 0.36590434],
[-0.45406728],
[ 0.24666299]])]

tvecs :

[array([[ 2.66476989],
[-3.33673936],
[17.85376573]]), array([[-4.8351615 ],
[ 0.55764164],
[18.24433871]]), array([[-9.69708746],
[-4.47578088],
[16.45470293]]), array([[-10.84578967],
[ -7.83191025],
[ 25.7312514 ]]), array([[ 8.33363135],
[-4.864706 ],
[27.99576755]]), array([[-8.31158562],
[ 0.06787774],
[23.34155579]]), array([[-11.63857256],
[ 2.74490915],
[ 23.75431658]]), array([[-0.70765791],
[ 3.80631702],
[28.47027191]]), array([[-14.7612401],
[ -0.32354 ],
[ 25.6419018]]), array([[ 8.6118176 ],
[-3.0669686 ],
[29.41959859]]), array([[ 0.38914573],
[-7.76669697],
[26.18945499]]), array([[-13.8400198 ],
[ -3.29190071],
[ 22.21753805]]), array([[ 5.38651559],
[-1.65756222],
[27.33248578]]), array([[ 2.7903882 ],
[-2.74716648],
[18.07559891]]), array([[ 2.9159042 ],
[-2.15696271],
[18.29726111]]), array([[ 3.0410726 ],
[-1.56619629],
[18.51863335]]), array([[ 3.16662301],
[-0.97544427],
[18.73754069]]), array([[ 3.29188471],
[-0.38385296],
[18.95728839]]), array([[ 3.41694196],
[ 0.20823813],
[19.17514928]]), array([[ 3.54161431],
[ 0.80035122],
[19.39120409]]), array([[ 2.14485278],
[ 0.76003749],
[19.20101953]]), array([[ 0.74851655],
[ 0.71994826],
[19.00988863]]), array([[-0.6478042 ],
[ 0.67952596],
[18.82016795]]), array([[-2.04386228],
[ 0.63901063],
[18.62702602]]), array([[-3.43949434],
[ 0.59796158],
[18.43403745]]), array([[-6.2302112 ],
[ 0.51674524],
[18.05054834]]), array([[-7.62513181],
[ 0.47569233],
[17.85825502]]), array([[-9.02037895],
[ 0.4347188 ],
[17.66692769]]), array([[-10.41499955],
[ 0.39350786],
[ 17.47417583]]), array([[-10.33517141],
[ -0.14756397],
[ 17.36074001]]), array([[-10.2554202 ],
[ -0.68835179],
[ 17.24724257]]), array([[-10.17558818],
[ -1.22936344],
[ 17.13403114]]), array([[-10.09574321],
[ -1.7705013 ],
[ 17.02109091]]), array([[-10.01614928],
[ -2.31174753],
[ 16.9077382 ]]), array([[-9.93634984],
[-2.85262729],
[16.79478293]]), array([[-9.85657027],
[-3.39356365],
[16.68169372]]), array([[-9.77690877],
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[ -5.6016467 ],
[ 18.14230835]]), array([[-11.3737879 ],
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[ 19.04298717]]), array([[-11.95899859],
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[ 22.64444017]]), array([[-14.29775153],
[ -7.35389026],
[ 23.54469573]]), array([[-14.88149386],
[ -7.64541725],
[ 24.44442915]]), array([[-15.46519308],
[ -7.93732792],
[ 25.34491232]]), array([[-13.15600189],
[ -7.88421999],
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[26.50108937]]), array([[ 0.71040853],
[-7.57158749],
[26.69219264]]), array([[ 3.02309107],
[-7.52044805],
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[27.07676178]]), array([[ 7.65006377],
[-7.41843523],
[27.26864762]]), array([[ 7.78544571],
[-6.90709676],
[27.41459736]]), array([[ 7.92032349],
[-6.39566824],
[27.55592403]]), array([[ 8.05818063],
[-5.88524902],
[27.70592726]]), array([[ 8.19541322],
[-5.37475797],
[27.85004051]]), array([[ 8.47174301],
[-4.35467161],
[28.13790798]]), array([[ 8.61173245],
[-3.84509985],
[28.28384761]]), array([[ 8.75229465],
[-3.3355427 ],
[28.42866949]]), array([[ 8.89284733],
[-2.8264006 ],
[28.57045431]]), array([[ 9.03361656],
[-2.31751098],
[28.71136965]]), array([[ 6.84757155],
[-2.00854557],
[28.05704765]]), array([[ 4.66530408],
[-1.70294947],
[27.39429883]]), array([[ 2.48889205],
[-1.40143005],
[26.72772946]]), array([[ 0.31757785],
[-1.1025838 ],
[26.05562442]]), array([[-1.8479478 ],
[-0.80684063],
[25.37875087]]), array([[-4.00852065],
[-0.51328989],
[24.70360262]]), array([[-6.16271984],
[-0.22177243],
[24.02239176]]), array([[-10.45545777],
[ 0.35653497],
[ 22.66198211]]), array([[-12.59485238],
[ 0.64480591],
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[ 0.8392204 ],
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[-1.60860179],
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[-1.62943417],
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[ 3.63767404],
[ 24.17225827]])]
@jamalknight
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Author

Reformatted the output to match the example template, I calibrated 190 frames, not sure if I need that many ...

[
    {
        'id':   0, // optional
        'R':    [[0.10322433, 0.00586084],[0.01965572],
                [0.02876875],[-0.03474045],[ 0.01824509],
                [0.03467534],[-0.05020887],[ 0.01830534], 
                [0.03556834],[-0.05399128],[-0.0484105 ], 
                [0.03717584],[ 0.08012789],[-0.04607123], 
                [0.01846599],[-0.11597159],[-0.05320749], 
                [0.10165191],[-0.07348809],[ 0.02913424],
                [-0.05693991],[-0.011658  ],[ 0.01366273], 
                [0.30802603],[-0.10069939],[ 0.10513563],
                [0.0610907, 0.44109706,0.11019328],
                [-0.19697588],[-0.04283537],[0.03067312],
                [-0.13900922],[-0.2246676 ],[ 0.03297445],
                [-0.1011033 ],[ 0.42317815],[ 0.14566023],
                [0.09366817],[0.00607288],[0.0197487 ],
                [0.08399034],[0.00614608],[0.01978352],
                [0.07426776],[0.00604659],[0.01976052],
                [0.06450547],[0.0055183 ],[0.01971954],
                [0.05460176],[0.00494075],[0.01961118],
                [0.04475805],[0.00400285],[0.01945504],
                [0.03487713],[0.00280646],[0.01928059], 
                [0.03351362],[-0.00343919],[ 0.01905554], 
                [0.03243555],[-0.00973823],[ 0.01882941], 
                [0.0310162 ],[-0.01598584],[ 0.01867843], 
                [0.03049254],[-0.02229135],[ 0.01850028], 
                [0.02964575],[-0.02886133],[ 0.01845228], 
                [0.02843749],[-0.04118144],[ 0.01820741], 
                [0.027988  ],[-0.0472495 ],[ 0.01814665], 
                [0.02716986],[-0.05361597],[ 0.01811481], 
                [0.02688923],[-0.05968937],[ 0.01804434], 
                [0.02779733],[-0.05870588],[ 0.01810973], 
                [0.02871731],[-0.05767375],[ 0.01813291], 
                [0.02957412],[-0.05654344],[ 0.01815416], 
                [0.03037135],[-0.0554144 ],[ 0.01819777], 
                [0.03125682],[-0.05465253],[ 0.01824934], 
                [0.03198659],[-0.0534214 ],[ 0.01822905], 
                [0.03292994],[-0.05217291],[ 0.01826689], 
                [0.03389497],[-0.05133067],[ 0.01830513], 
                [0.03568775],[-0.04904374],[ 0.01839013], 
                [0.03567725],[-0.05145943],[ 0.01169535], 
                [0.03553939],[-0.05379552],[ 0.00499246], 
                [0.03557365],[-0.05603038],[-0.00168168], 
                [0.03554298],[-0.05841379],[-0.00836349], 
                [0.03572186],[-0.06072667],[-0.01503664], 
                [0.03575173],[-0.06303097],[-0.02172327], 
                [0.0361487 ],[-0.06531335],[-0.02838113], 
                [0.03615495],[-0.06766396],[-0.03500657], 
                [0.03636102],[-0.06999564],[-0.0416864 ], 
                [0.03663928],[-0.07213835],[-0.04834239], 
                [0.03613996],[-0.06324022],[-0.0483991 ], 
                [0.03518512],[-0.04457608],[-0.04832746], 
                [0.03496729],[-0.03495072],[-0.04821182], 
                [0.03525891],[-0.02573156],[-0.04808373], 
                [0.03519819],[-0.01630115],[-0.04787894], 
                [0.03557333],[-0.00677863],[-0.0476355 ], 
                [0.03654236],[ 0.00295582][-0.04731691], 
                [0.03748246],[ 0.01259579],[-0.04699502], 
                [0.03849325][ 0.0223351 ],[-0.04656495], 
                [0.0378291 ],[ 0.03377083],[-0.04661988], 
                [0.0373468 ],[ 0.04492803],[-0.04655054], 
                [0.0370422 ],[ 0.05682901],[-0.04640478],
                [0.03702993],[ 0.06839694],[-0.04629415],
                [0.03741903],[ 0.09169926],[-0.04576833], 
                [0.03805815],[ 0.10364171],[-0.04547383],
                [0.03860977],[ 0.11547035],[-0.0450544 ], 
                [0.03996408],[ 0.12723619],[-0.04472855], 
                [0.04127252],[ 0.13904516],[-0.04427556], 
                [0.02988295],[ 0.10598679],[-0.04712711], 
                [0.02129357],[ 0.07288558],[-0.0495296 ], 
                [0.01486569],[ 0.04006551],[-0.05144872], 
                [0.01107139],[ 0.00760604],[-0.05289524], 
                [0.00931909],[-0.02469899],[-0.05377705], 
                [0.01011569],[-0.05546574],[-0.05418065], 
                [[0.01308388],[-0.0862145 ],[-0.05398944], 
                [0.02539993],[-0.14478329],[-0.05190197], 
                [0.03421056],[-0.17195762],[-0.05013324], 
                [0.03940709],[-0.16280336],[-0.04242425], 
                [0.04495138],[-0.15361656],[-0.03467084], 
                [0.05109064],[-0.14472358],[-0.0268123 ], 
                [0.05742325],[-0.13612306],[-0.01898232], 
                [0.06439736],[-0.12763301],[-0.01109991], 
                [0.07153872][-0.11971874],[-0.003183  ], 
                [0.07896143],[-0.11181481],[ 0.00474868], 
                [0.08715167],[-0.10438608],[ 0.01278411], 
                [0.09561111],[-0.09718168],[ 0.02075846], 
                [0.1044322 ],[-0.09021456],[ 0.02880461], 
                [0.09971569],[-0.05697319],[ 0.02968208], 
                [0.0980634 ],[-0.03978327],[ 0.03019855], 
                [0.09687983],[-0.02279768],[ 0.03095413], 
                [0.09633085],[-0.0057622 ],[ 0.03181397],
                [0.09653789],[0.01137864],[0.03269646],
                [0.09653923],[0.02895417],[0.03380738],
                [0.09753421],[0.04658338],[0.0349351 ],
                [0.0992599 ],[0.0638449 ],[0.03628648],
                [0.10127923],[0.08142823],[0.03766291],
                [0.05844177],[0.06393778],[0.03176851],
                [0.01760905][0.04224549],[0.02582513],
                [-0.02103805],[ 0.01714929],[ 0.01972768], 
                [0.13053995],[-0.13185105],[ 0.00974808], 
                [0.12843456],[-0.11722955],[ 0.01031913], 
                [0.12695212],[-0.10256126],[ 0.01104121], 
                [0.12624114],[-0.0876771 ],[ 0.01185421], 
                [0.12566218],[-0.07267249],[ 0.01278509], 
                [0.12579632],[-0.05735235],[ 0.01387445], 
                [0.12638359],[-0.0421282 ][ 0.01504203], 
                [0.12734985],[-0.02702861],[ 0.01628402], 
                [0.1290801 ],[-0.01163635],[ 0.01765662],
                [0.13127712],[0.0036921 ],[0.01914791],
                [0.12207521],[0.0046558 ],[0.0193463 ],
                [0.11269308],[0.00533789],[0.01952478],
                [-0.08967877],[-0.04376131],[ 0.00774083],
                [-0.11941828],-0.07925056],[ 0.00204692],
                [-0.1454916 ],[-0.11696271],[-0.00333265],
                [-0.1675641 ],[-0.1573031 ],[-0.00832662],
                [-0.18607216],[-0.19960762],[-0.01274968],
                [-0.2005398 ],[-0.24355475],[-0.0167385 ],
                [-0.14039336],[-0.16271505],[ 0.00628496],
                [-0.06705754],[-0.10160029],[ 0.02908743], 
                [0.01326019],[-0.06230612],[ 0.05041263], 
                [0.0960622 ],[-0.04449067],[ 0.06949887], 
                [0.17544689],[-0.04634389],[ 0.08522649], 
                [0.24728927],[-0.06614863],[ 0.09715182], 
                [0.35446342],[-0.14534241],[ 0.10908152], 
                [0.38539402],[-0.19648518],[ 0.10935265], 
                [0.40068516],[-0.24843512],[ 0.10645312], 
                [0.4289201 ],[-0.18637292],[ 0.11771753], 
                [0.44484721],[-0.11682918],[ 0.12753298], 
                [0.44708468],[-0.04181391],[ 0.13547181],
                [0.43528193],[0.03636956],[0.14121547],
                [0.40844847],[0.11550975],[0.14420246],
                [0.36667462],[0.19288141],[0.14422624],
                [0.3101974 ],[0.266351  ],[0.14098314],
                [0.23987336],[0.33361671],[0.13430372],
                [0.15648128],[0.39266557],[0.12400402],
                [0.06173157],[0.42652433],[0.10944694],
                [0.06205619],[0.4117478 ],[0.10890919],
                [0.06201045],[0.39714842],[0.1084275 ],
                [0.06285113],[0.38235055],[0.1078152 ],
                [0.06375749],[0.36747543],[0.10724109],
                [0.06470036],[0.352857  ],[0.10670031],
                [0.06506839],[0.33881657],[0.10640113],
                [0.06612846],[0.32347699],[0.10580073],
                [0.06701756],[0.3091255 ],[0.10542839],
                [0.06862262],[0.29486992],[0.10495771],
                [-0.05302695],[ 0.19830796],[ 0.07602803],
                [-0.14232847],[ 0.08277688],[ 0.05073745],
                [-0.21774921],[-0.16961981],[ 0.01694203],
                [-0.20704163],[-0.28890978],[ 0.01018257],
                [-0.16954777],[-0.39282166],[ 0.01049646],
                [-0.11180395],[-0.47588849],[ 0.01746095],
                [-0.04113122],[-0.53427107],[ 0.03011798], 
                [0.03480776],[-0.56616622],[ 0.04722538], 
                [0.10743273],[-0.57288792],[ 0.06692612],  
                [0.04709503],[-0.55724037],[ 0.05204467],
                [-0.01233936],[-0.52333596], [0.03981064],
                [-0.06561062],[-0.47104485],[ 0.03105644],
                [-0.10753099],[-0.40130808],[ 0.02678977],
                [-0.13322331],[-0.3176376 ],[ 0.02733897], 
                [-0.12154509],[-0.12695985],[ 0.04361731],
                [-0.07953874],[-0.03061587],[ 0.05871882],
                [-0.01299762],[ 0.05758161],[ 0.07743038],
                [0.07690079],[0.13163967],[0.09874222],
                [0.05924685],[0.16516787],[0.10484263],
                [0.04108452],[0.19815769],[0.11074048],
                [0.02249052],[0.23118179],[0.11639785],
                [0.00318595],[0.26374743],[0.12185212],
                [-0.01658914],[ 0.29616878],[ 0.1271042 ],
                [-0.03709911],[ 0.32838984],[ 0.13212863],
                [-0.05797423],[ 0.36015046],[ 0.13688942],
                [-0.07940517],[ 0.39186655],[ 0.1414372 ],
                [-0.12421278],[ 0.45450897],[ 0.14988746],
                [-0.02027904],[ 0.40946676],[ 0.16321869],
                [0.07206196],[0.35343336],[0.17297331],
                [0.1522359 ],[0.28748761],[0.17897129],
                [0.21888208],[0.21381116],[0.1812202 ],
                [0.27147827],[0.13449869],[0.17980693],
                [0.30902299],[0.05123254],[0.17499767], 
                [0.33118207],[-0.03327948],[ 0.16696734], 
                [0.33800658],[-0.11694237],[ 0.15595736], 
                [0.32980645],[-0.19779851],[ 0.14229471],
                [0.30719502],[-0.27357063],[ 0.12652331], 
                [0.3209136 ],[-0.28285912],[ 0.14107921], 
                [0.33371294],[-0.29456343],[ 0.15515309], 
                [0.34558165],[-0.3086057 ],[ 0.16873544], 
                [0.35567916],[-0.32498616],[ 0.18178202], 
                [0.36381888],[-0.34333639],[ 0.19416744], 
                [0.36976401],[-0.36345518],[ 0.20597662], 
                [0.37327916],[-0.38496579],[ 0.21710015], 
                [0.37368722],[-0.40757291],[ 0.22755185], 
                [0.37136296],[-0.43058458],[ 0.23737914], 
                [0.36590434],[-0.45406728],[ 0.24666299]],
        'k':    [[ 1.44644326e+03, 0.00000000e+00, 9.59836634e+02 ],
                [ 0.00000000e+00, 1.44646498e+03, 5.39556895e+02 ],
                [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 ]],
        't':    [[ 2.66476989],[-3.33673936],[17.85376573], 
                [-4.8351615 ],[ 0.55764164],[18.24433871], 
                [-9.69708746],[-4.47578088],[16.45470293], 
                [-10.84578967],[ -7.83191025],[ 25.7312514 ],  
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                [-7.53010553],[-1.55010946],[23.81938766], 
                [-5.38987144],[-1.58169641],[24.4091039 ], 
                [-3.24411048],[-1.60860179],[24.99742874], 
                [-1.09313656],[-1.62943417],[25.58429844],
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                [8.7083773 ],[ 0.99808634],[26.78350405],  
                [8.99775191],[ 1.6715963 ],[26.59178926],  
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                [10.38053438],[ 4.41315337],[26.31505714],  
                [7.96496956],[ 4.32552467],[26.10934223],  
                [5.55337945],[ 4.24160465],[25.89788475],  
                [3.14450296],[ 4.16227988],[25.67948139],  
                [0.73877632],[ 4.08528555],[25.45708993], 
                [-1.66356045],[ 4.0113828 ],[25.23507107], 
                [-4.06372185],[ 3.93822602],[25.01122381], 
                [-6.4620782 ],[ 3.8657905 ],[24.79089856], 
                [-8.85981245],[ 3.79288322],[24.57929644], 
                [-11.25755087],[ 3.71702485],[ 24.37258417], 
                [-13.65489903],[ 3.63767404],[ 24.17225827] ],
        'dist': [[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
                3.04891387e-04 ]]

@liken95
Copy link

liken95 commented Feb 5, 2021

重新格式化输出以匹配示例模板，我校准了190帧，不确定是否需要那么多...

[
    {
        'id':   0, // optional
        'R':    [[0.10322433, 0.00586084],[0.01965572],
                [0.02876875],[-0.03474045],[ 0.01824509],
                [0.03467534],[-0.05020887],[ 0.01830534], 
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                [-0.05693991],[-0.011658  ],[ 0.01366273], 
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                [0.0610907, 0.44109706,0.11019328],
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                [0.08399034],[0.00614608],[0.01978352],
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                [0.06450547],[0.0055183 ],[0.01971954],
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                [0.02843749],[-0.04118144],[ 0.01820741], 
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                [-0.05302695],[ 0.19830796],[ 0.07602803],
                [-0.14232847],[ 0.08277688],[ 0.05073745],
                [-0.21774921],[-0.16961981],[ 0.01694203],
                [-0.20704163],[-0.28890978],[ 0.01018257],
                [-0.16954777],[-0.39282166],[ 0.01049646],
                [-0.11180395],[-0.47588849],[ 0.01746095],
                [-0.04113122],[-0.53427107],[ 0.03011798], 
                [0.03480776],[-0.56616622],[ 0.04722538], 
                [0.10743273],[-0.57288792],[ 0.06692612],  
                [0.04709503],[-0.55724037],[ 0.05204467],
                [-0.01233936],[-0.52333596], [0.03981064],
                [-0.06561062],[-0.47104485],[ 0.03105644],
                [-0.10753099],[-0.40130808],[ 0.02678977],
                [-0.13322331],[-0.3176376 ],[ 0.02733897], 
                [-0.12154509],[-0.12695985],[ 0.04361731],
                [-0.07953874],[-0.03061587],[ 0.05871882],
                [-0.01299762],[ 0.05758161],[ 0.07743038],
                [0.07690079],[0.13163967],[0.09874222],
                [0.05924685],[0.16516787],[0.10484263],
                [0.04108452],[0.19815769],[0.11074048],
                [0.02249052],[0.23118179],[0.11639785],
                [0.00318595],[0.26374743],[0.12185212],
                [-0.01658914],[ 0.29616878],[ 0.1271042 ],
                [-0.03709911],[ 0.32838984],[ 0.13212863],
                [-0.05797423],[ 0.36015046],[ 0.13688942],
                [-0.07940517],[ 0.39186655],[ 0.1414372 ],
                [-0.12421278],[ 0.45450897],[ 0.14988746],
                [-0.02027904],[ 0.40946676],[ 0.16321869],
                [0.07206196],[0.35343336],[0.17297331],
                [0.1522359 ],[0.28748761],[0.17897129],
                [0.21888208],[0.21381116],[0.1812202 ],
                [0.27147827],[0.13449869],[0.17980693],
                [0.30902299],[0.05123254],[0.17499767], 
                [0.33118207],[-0.03327948],[ 0.16696734], 
                [0.33800658],[-0.11694237],[ 0.15595736], 
                [0.32980645],[-0.19779851],[ 0.14229471],
                [0.30719502],[-0.27357063],[ 0.12652331], 
                [0.3209136 ],[-0.28285912],[ 0.14107921], 
                [0.33371294],[-0.29456343],[ 0.15515309], 
                [0.34558165],[-0.3086057 ],[ 0.16873544], 
                [0.35567916],[-0.32498616],[ 0.18178202], 
                [0.36381888],[-0.34333639],[ 0.19416744], 
                [0.36976401],[-0.36345518],[ 0.20597662], 
                [0.37327916],[-0.38496579],[ 0.21710015], 
                [0.37368722],[-0.40757291],[ 0.22755185], 
                [0.37136296],[-0.43058458],[ 0.23737914], 
                [0.36590434],[-0.45406728],[ 0.24666299]],
        'k':    [[ 1.44644326e+03, 0.00000000e+00, 9.59836634e+02 ],
                [ 0.00000000e+00, 1.44646498e+03, 5.39556895e+02 ],
                [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 ]],
        't':    [[ 2.66476989],[-3.33673936],[17.85376573], 
                [-4.8351615 ],[ 0.55764164],[18.24433871], 
                [-9.69708746],[-4.47578088],[16.45470293], 
                [-10.84578967],[ -7.83191025],[ 25.7312514 ],  
                [8.33363135],[-4.864706 ],[27.99576755], 
                [-8.31158562],[ 0.06787774],[23.34155579], 
                [-11.63857256],[ 2.74490915],[ 23.75431658], 
                [-0.70765791],[ 3.80631702],[28.47027191], 
                [-14.7612401],[ -0.32354 ],[ 25.6419018],  
                [8.6118176 ],[-3.0669686 ],[29.41959859],  
                [0.38914573],[-7.76669697],[26.18945499], 
                [-13.8400198 ],[ -3.29190071],[ 22.21753805],  
                [5.38651559],[-1.65756222],[27.33248578],  
                [2.7903882 ],[-2.74716648],[18.07559891],  
                [2.9159042 ],[-2.15696271],[18.29726111],  
                [3.0410726 ],[-1.56619629],[18.51863335],  
                [3.16662301],[-0.97544427],[18.73754069],  
                [3.29188471],[-0.38385296],[18.95728839],  
                [3.41694196],[ 0.20823813],[19.17514928],  
                [3.54161431],[ 0.80035122],[19.39120409],  
                [2.14485278],[ 0.76003749],[19.20101953],  
                [0.74851655],[ 0.71994826],[19.00988863], 
                [-0.6478042 ],[ 0.67952596],[18.82016795], 
                [-2.04386228],[ 0.63901063],[18.62702602], 
                [-3.43949434],[ 0.59796158],[18.43403745], 
                [-6.2302112 ],[ 0.51674524],[18.05054834], 
                [-7.62513181],[ 0.47569233],[17.85825502], 
                [-9.02037895],[ 0.4347188 ],[17.66692769], 
                [-10.41499955],[ 0.39350786],[ 17.47417583], 
                [-10.33517141],[ -0.14756397],[ 17.36074001], 
                [-10.2554202 ],[ -0.68835179],[ 17.24724257], 
                [-10.17558818],[ -1.22936344],[ 17.13403114], 
                [-10.09574321],[ -1.7705013 ],[ 17.02109091], 
                [-10.01614928],[ -2.31174753],[ 16.9077382 ], 
                [-9.93634984],[-2.85262729],[16.79478293], 
                [-9.85657027],[-3.39356365],[16.68169372], 
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                [-10.78871091],[ -5.6016467 ],[ 18.14230835], 
                [-11.3737879 ],[ -5.8937778 ],[ 19.04298717], 
                [-11.95899859],[ -6.18615614],[ 19.94331574], 
                [-12.54411122],[ -6.47832866],[ 20.84412938], 
                [-13.12835314],[ -6.76989098],[ 21.7436547 ], 
                [-13.71320259],[ -7.06198458],[ 22.64444017], 
                [-14.29775153],[ -7.35389026],[ 23.54469573], 
                [-14.88149386],[ -7.64541725],[ 24.44442915], 
                [-15.46519308],[ -7.93732792],[ 25.34491232], 
                [-13.15600189],[ -7.88421999],[ 25.53700823], 
                [-8.53540381],[-7.7794031 ],[25.92336113], 
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                [5.33658419],[-7.4692043 ],[27.07676178],  
                [7.65006377],[-7.41843523],[27.26864762],  
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                [8.05818063],[-5.88524902],[27.70592726],  
                [8.19541322],[-5.37475797],[27.85004051],  
                [8.47174301],[-4.35467161],[28.13790798],  
                [8.61173245],[-3.84509985],[28.28384761],  
                [8.75229465],[-3.3355427 ],[28.42866949],  
                [8.89284733],[-2.8264006 ],[28.57045431],  
                [9.03361656],[-2.31751098],[28.71136965],  
                [6.84757155],[-2.00854557],[28.05704765],  
                [4.66530408],[-1.70294947],[27.39429883],  
                [2.48889205],[-1.40143005],[26.72772946],  
                [0.31757785],[-1.1025838 ],[26.05562442], 
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                [-4.00852065],[-0.51328989],[24.70360262], 
                [-6.16271984],[-0.22177243],[24.02239176], 
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                [-12.59485238],[ 0.64480591],[ 21.98408514], 
                [-12.73574278],[ 0.8392204 ],[ 22.11595189], 
                [-12.87622873],[ 1.03363034],[ 22.24608275], 
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                [-6.97117884],[ 3.05505408],[24.8702023 ], 
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                [7.06929493],[ 3.97589108],[28.19711393],  
                [9.41545033],[ 4.12799864],[28.74863343],  
                [6.88569795],[ 4.04588092],[28.71465112],  
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                [1.82374512],[ 3.88739733],[28.5767474 ], 
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                [-4.32823853],[-4.47851559],[16.3030692 ], 
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                [2.28769813],[-5.1028949 ],[17.18350066],  
                [2.41323857],[-4.51451945],[17.40742503],  
                [2.53897816],[-3.92582811],[17.63097404], 
                [-3.23694242],[ 3.7230754 ],[28.34120761], 
                [-5.76247817],[ 3.63529076],[28.18824665], 
                [-8.28303807],[ 3.54251312],[28.01622498], 
                [-10.7965339 ], [ 3.44420368],[ 27.82158908], 
                [-13.30128796],[ 3.33950885],[ 27.61081806], 
                [-15.79670924],[ 3.22971291],[ 27.38368363], 
                [-15.67662443],[ 2.69176754],[ 27.44643405], 
                [-15.53035104],[ 2.14003432],[ 27.3821291 ], 
                [-15.37533219],[ 1.59069354],[ 27.19774241], 
                [-15.21986949],[ 1.05984621],[ 26.90484057], 
                [-15.06791124],[ 0.56169201],[ 26.52990026], 
                [-14.91602495],[ 0.101534 ],[ 26.09931668], 
                [-14.59951049],[ -0.72324798],[ 25.18482877], 
                [-14.43061322],[ -1.11019423],[ 24.74977714], 
                [-14.25843677],[ -1.49939839],[ 24.35408144], 
                [-12.03561919],[ -1.66655548],[ 24.66001519], 
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                [1.55104657],[-2.87274905],[27.61032289], 
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                [7.55601901],[-1.65507476],[27.91239821],  
                [7.77308603],[-1.25227671],[27.70949359],  
                [7.98698812],[-0.77924244],[27.48111848],  
                [8.20808877],[-0.24035137],[27.24021905],  
                [8.44652258],[ 0.35604804],[27.0034321 ],  
                [8.7083773 ],[ 0.99808634],[26.78350405],  
                [8.99775191],[ 1.6715963 ],[26.59178926],  
                [9.31553826],[ 2.36271304],[26.44402531],  
                [9.65800996],[ 3.05785712],[26.34759193], 
                [10.01555132],[ 3.74444359],[26.30238494], 
                [10.38053438],[ 4.41315337],[26.31505714],  
                [7.96496956],[ 4.32552467],[26.10934223],  
                [5.55337945],[ 4.24160465],[25.89788475],  
                [3.14450296],[ 4.16227988],[25.67948139],  
                [0.73877632],[ 4.08528555],[25.45708993], 
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                [-4.06372185],[ 3.93822602],[25.01122381], 
                [-6.4620782 ],[ 3.8657905 ],[24.79089856], 
                [-8.85981245],[ 3.79288322],[24.57929644], 
                [-11.25755087],[ 3.71702485],[ 24.37258417], 
                [-13.65489903],[ 3.63767404],[ 24.17225827] ],
        'dist': [[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
                3.04891387e-04 ]]

Hello, I also encountered the same problem. May I ask how did you generate the R and T in the camera parameters later

@jamalknight
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hi @liken95

Below is the code for camera calibration, which will print outputs for R, k,t and dist.
Be sure to adjust your path where your images are in line 24.

#!/usr/bin/env python

import cv2
import numpy as np
import os
import glob

# Defining the dimensions of checkerboard
CHECKERBOARD = (9,6)
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# Creating vector to store vectors of 3D points for each checkerboard image
objpoints = []
# Creating vector to store vectors of 2D points for each checkerboard image
imgpoints = [] 


# Defining the world coordinates for 3D points
objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
prev_img_shape = None

# Extracting path of individual image stored in a given directory
images = glob.glob('./images/camera1/*.jpg')
for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    # Find the chess board corners
    # If desired number of corners are found in the image then ret = true
    ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH+
    	cv2.CALIB_CB_FAST_CHECK+cv2.CALIB_CB_NORMALIZE_IMAGE)
    
    """
    If desired number of corner are detected,
    we refine the pixel coordinates and display 
    them on the images of checker board
    """
    if ret == True:
        objpoints.append(objp)
        # refining pixel coordinates for given 2d points.
        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        
        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2,ret)
    
    cv2.imshow('img',img)
    cv2.waitKey(1)

cv2.destroyAllWindows()

h,w = img.shape[:2]

"""
Performing camera calibration by 
passing the value of known 3D points (objpoints)
and corresponding pixel coordinates of the 
detected corners (imgpoints)
"""
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

# print("Camera matrix : \n")
# print(mtx)
# print("dist : \n")
# print(dist)
# print("rvecs : \n")
# print(rvecs)
# print("tvecs : \n")
# print(tvecs)

# Obtain R,k,t
rotation_mat = np.zeros(shape=(3, 3))
R, _ = cv2.Rodrigues(rvecs[0], rotation_mat)
t = tvecs[0]
k = mtx

# Put in a npz
np.savez("camera1data.npz", R=R, dist=dist, k=k, t=t)

print("R:", R)
print("k:", k)
print("t:", t)
print("dist:", dist)

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@jamalknight @liken95