Open roee-lulav opened 10 months ago
Hello! I have the same issue: Check failed: stereobaseline > 0.0 (-0.0949439 vs. 0) Did you find a way to solve it?
Go to the Kimera-VIO/src/frontend/StereoCamera.cpp On line 67, there is a comment: // Calc baseline (see L.2700 and L.2616 in // https://github.com/opencv/opencv/blob/master/modules/calib3d/src/calibration.cpp // NOTE: OpenCV pose convention is the opposite, therefore the missing -1.0
Therefore, on line 71, change 1 for -1:
stereo_baseline_ = -1.0 / Q_.at<double>(3, 2);
Then catkin build
Hi,
I'm trying to use Kimera with my own stereo-inertial system. I use Kalibr to calibrate the system, but seems to have trouble using this calibration as Kimera params. I'll be gratefull if you can make sense of this, or instruct me about the correct process (Sorry if this is a naive question).
I use Kalibr for calibration. First I let Kalibr calibrate the stereo cameras, and then I run the camera-IMU calibration. It seem calibration quality is reasonable. here are the camchain results (and the report is attached):
I use the calibration results in the Kimera params (ImuParams.yaml, LeftCameraParams.yaml, RightCameraParams.yaml), but when I run Kimera, I get this error:
This also happens if I try to switch left and right cameras in the calibration. Am I doing something wrong? Do I need to convert Kalibr results in a specific way?
Here are my Kimera left camera parameters:
And Kimera right camera parameters:
2023-12-05-10-04-42-results-imucam.txt 2023-12-05-10-04-42-report-imucam.pdf