Problem with Calibration
arnab-source opened this issue · 2 comments
root@138b9f341cdf:/catkin_ws# rosrun kalibr tartan_calibrate --bag /data/calib_Cams_C_D.bag --target /data/target.yaml --topics /oak_ffc_4p/CAM_D /oak_ffc_4p/CAM_C --min-init-corners-autocomplete 29 --min-tag-size-autocomplete 2 --correction-threshold 10.1 --models omni-radtan omni-radtan --dont-show-report
importing libraries
Initializing cam0:
Camera model: omni-radtan
Dataset: /data/calib_Cams_C_D.bag
Topic: /oak_ffc_4p/CAM_D
Number of images: 14558
Extracting calibration target corners
Extracted corners for 12318 images (of 14558 images)
Traceback (most recent call last):
File "/catkin_ws/devel/lib/kalibr/tartan_calibrate", line 15, in
exec(compile(fh.read(), python_script, 'exec'), context)
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/tartan_calibrate", line 672, in
main()
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/tartan_calibrate", line 292, in main
if not cam.initGeometryFromObservations(observations):
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 58, in initGeometryFromObservations
success = self.geometry.initializeIntrinsics(observations)
RuntimeError: OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:1171: error: (-2:Unspecified error) in function 'void cvFindExtrinsicCameraParams2(const CvMat*, const CvMat*, const CvMat*, const CvMat*, CvMat*, CvMat*, int)'
DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. (expected: 'count >= 6'), where
'count' is 5
must be greater than or equal to
'6' is 6
Can you please provide a step by step procedure on how to do the calibration ? Thanks.
I have changed the code of oak_ffc_4p.cpp, so that it can publish uncompressed images separately, so that I can run the tartan calibration code directly (as can be seen above).
trying "tools-quarterKalibr", facing some problem in there. Henceforth posted an issue over there.