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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
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reprojection error #9

Closed eric08 closed 9 years ago

eric08 commented 9 years ago

When I used intrinsic_calib to calibrate my camera. After STEP 1: Estimate intrinsics and STEP 2: Estimate extrinsics the reprojection error is 79.94 ,and then after STEP 3: optimization using ceres,the error is more than 83.Why? Can you help me ? Here is the pics: http://pan.baidu.com/s/1eQreDSQ

hengli commented 9 years ago

I am not too sure why you have a high reprojection error. I ran the intrinsic_calib on the images that you provided, and I obtained a reprojection error of 0.336 pixels. One possible reason is that you might not be using the correct parameters. I ran intrinsic_calib with specific parameter values: bin/intrinsic_calib -w 6 -h 5 -i pics -p l --camera-model pinhole --view-results

For more information, please run: intrinsic_calib --help

eric08 commented 9 years ago

I made the mistake of using a corner extraction but didn't replace corners in the correct order.Sorry for interrupting you when you are busy with working, and simultaneously thanks for your help.