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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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can i use other calibration models to calibrate the extrinsic parameters between imu and cameras? #647

Closed zhangbb-john closed 8 months ago

zhangbb-john commented 9 months ago

I have a camera with more than 120 degree view. I used pin-hole model of kalibr with 2 parameters for radial distortion and 2 parameters for tangential distortion. However, the result is not good where the reprojection error is large, leading bad performance of extrinsic parameter calibration using kalibr. I tried pin-hole model with 3 parameters for radial distortion and 2 parameters for tangential distortion, where the results indicate that the reprojection error is much smaller for intrinsics-calibration. So I assume can i use other calibration models to calibrate the extrinsic parameters between imu and cameras? Thanks

goldbattle commented 8 months ago

I believe the calibration models should be the same for both the multi-camera and camera-imu scripts.