camera intrinsics calibration produces wild out-of-range principalPoint

Hi -

A student and I are performing calibration with estimateCameraParameters and checkerboard patterns. The error in reconstruction is low, but the principal Point returned is outside the range of the pixel array of the camera. For one of our cameras, it is negative when we fit with EstimateSkew=true (which causes an error when we try to create a camera object). But even if we set EstimateTangentialDistortion=false,EstimateSkew=false the principal point is out of range. The detected grid locations seem fine (they are on the image).

Any suggestions?

The calibration grid is sometimes a little blurry because it is small and the lens doesn't have a large depth of field (so sometimes the edges are just a bit blurry).

Thanks

Steve

[Giridharan Kumaravelu]

We would need more information to reproduce and investigate this issue that you are facing.

Could you provide your calibration images and the version of MATLAB you are using?