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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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How to optimize only Z value in landmark in optimization process #427

Closed yingweima2022 closed 2 years ago

yingweima2022 commented 3 years ago

Thanks for your excellent work!

I'm trying to optimize landmarks in the optimization process, but it's possible that target is not a complete plane, so I need to optimize Z value separately.

I see that there is an estimatelanks parameter in CameraCalibration to specify whether to optimize landmarks, but I don't know how to only optimize Z value. Please give me some guidance.

goldbattle commented 2 years ago

You might want to checkout this pr: https://github.com/ethz-asl/kalibr/pull/152 Otherwise this isn't something the repo will support (only organized targets). You would need to look into the code to see how the target is define, and implement a new optimization target cost function yourself.