Stereo calibration not detecting all charuco markers properly

[vixp24]

Hi there,

I am trying to get stereo calibration running with the cameracalibrator node. While running the tool, I get only partial aruco marker detections while some marker detections look wrong. Has anyone seen anything this like, or have any pointers on what could be wrong? I have tried rolling and humble branches, both with the same issue.

I have successfully done chessboard calibration with the same tool, and am only getting this issue with the charuco pattern. I have also tried a differenct charuco boards (5x5 dict, but same size), and I get the same result.

Here is my command: ros2 run camera_calibration cameracalibrator --no-service-check --pattern='charuco' --size 8x11 --square 0.022 --charuco_marker_size=0.016 --aruco_dict='4x4_100' --approximate=0.01 --ros-args --remap right:=/right/image_raw --remap left:=/left/image_raw --remap left_camera:=/left --remap right_camera:=/right

It is my first time attempting charuco calibration, so any help is appreciated!

Thank you

[vixp24]

Changed the command to use --size 12x9 instead, and the detection looks much better now. The colours on a given row are not all the same however, and there is always one strand left - does this matter?

Sounds like there may be a mixup with the row & column parsing from the size parameter. When I use the "chessboard" type for the same checkerboard size, I used --size 8x11 and it looks normal like below:

At the very least, maybe the size parameter help documentation should be updated to indicate this?

Thanks!