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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Strange Reprojection Error Behavior #561

Closed yooooki closed 2 years ago

yooooki commented 2 years ago

Hi friends:

I'm trying to calibrate a FLIR BFS-U3-16S2C camera. The reprojection in the calibration report looks weird: reprojection errors The result was

Calibration results 
====================
Camera-system parameters:
    cam0 (/blackfly/cam0/image_raw):
     type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
     distortion: [-0.13501326  0.02032476 -0.00427919  0.00106607] +- [0.00426444 0.001329   0.0004348  0.0002439 ]
     projection: [737.58096631 716.35258317 671.88113768 567.86336969] +- [12.67128558 12.26143029  2.45023513  4.33137152]
     reprojection error: [0.000001, 0.000001] +- [5.273541, 5.111451]

Other camera models failed to complete the optimization or initialization.

I suspect this is due to the lens I used was not suitable for computer vision and may not physically fit these camera models, but I can't find any valuable information about my situation. So could this just be a problem with my lens, or other mistakes I made during the recording process?

yooooki commented 2 years ago

It turns out that a silly misunderstanding of parameter tagSpacing in the target file led to this problem.