search

ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
Other
4.18k stars 1.37k forks source link

Calibration of Multiple Cameras with Overlapping #685

Open Nick-0814 opened 2 months ago

Nick-0814 commented 2 months ago

The device I am using is a dual-fisheye camera with overlapping front and rear parts, and I am trying to calibrate the external parameters between the two cameras I made sure that the rosbag I recorded had obvious overlaps, but during running kalibr, I was prompted to have a bug (The cameras are not connected through mutual target observations! Please provide another dataset)

Terminal command:rosrun kalibr kalibr_calibrate_cameras --target sample.yaml --models omni-radtan omni-radtan --topics /cam0/image_raw /cam1/image_raw --bag try.bag --bag-freq 7.5

example problem

skohlbr commented 2 months ago

See my comment here: https://github.com/ethz-asl/kalibr/issues/231#issuecomment-2095568096

tl;dr: Made it work by adding more cameras so there can be mutual observations.