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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Dynamic calibration completed way faster than expected #694

Open cmakelabs opened 5 months ago

cmakelabs commented 5 months ago

I have done static calibration for T265 using checker board and the report seemed to be quite fine, after that I have done dynamic calibration, however I was expecting it to require half a day as mentioned here

Depending on how many frames are in your dataset this can take on the upwards of half a day

However, in my case it took around 30 mins, and what makes me even more concerned is that when I did dynamic calibration for the D435i, It required 11 hours, which aligns with what is written in the tutorial, Could you please tell what could be the issue? Is that typical for the T265? I note that the duration(time length) of the recorded rosbags for each of the cameras, are similar.

goldbattle commented 3 months ago

It depends on the frequency of the camera and resolution (in addition to the length of the dataset collected). For example for a 10Hz bag, one can do dynamic calibration in < 10 minutes on a short sequence of data. Your best bet is to inspect the generated report and ensure that the cost of the optimization decreased throughout the optimization process.