Intrinsic Camera Parameters Calibration Issue -- Initialization failed
ardalanK opened this issue · comments
I am trying to calibrate a Gear 360 (only one 180 fisheye lens right now) and am using ImprovedOcamCalib as well. The calibration parameters are as follows:
%YAML:1.0
Camera Parameters. Adjust them!
Camera calibration parameters camera back
Camera.Iw: 640
Camera.Ih: 640
hyperparameters
Camera.nrpol: 6
Camera.nrinvpol: 3
forward polynomial f(\rho)
Camera.a0: -172.296104925459
Camera.a1: 0
Camera.a2: 0.00160105662555009
Camera.a3: -6.34303796841769e-06
Camera.a4: 6.56202451752210e-08
Camera.a5: -1.83867951781103e-10
backward polynomial rho(\theta)
Camera.pol0: 17.2540014422096
Camera.pol1: 80.6878056249852
Camera.pol2: 298.076583841793
Camera.pol3: 336.001425859136
affine matrix
Camera.c: 1.001231302713875
Camera.d: -4.098360811880249e-04
Camera.e: -3.266710888569786e-04
principal point
Camera.u0: 3.222578566035110e+02
Camera.v0: 3.181511158806330e+02
create a mirror mask for fisheye cameras
Camera.mirrorMask: 1
The forward poly is extracted from "ss", and the backward poly is extracted from "pol"...I am using 15 grayscale images, downscaled to 640x640 for calibration. The calibration checkerboard is 7x5 (29mm).
The strange thing is that the tracking can initialize with the sample calibration file (Fisheye0.yaml) that comes in the repository!!!
Any idea what I might be missing here?
Just to emphasize: this is only for one of the lenses... I am trying to use a single camera for tracking and point cloud generation... I guess there is no point in using two lenses that are 180 degree back to back (<-->) with no overlap...
which mode do u run , debug or release? I found that the debug version cann't initialize properly for our fisheye device.
I assume it's running on release.... How would I be able to change it?
I ran it on Debug mode and still have the same problem... I think the calibration should be fine since I'm using ImproveOcamCalib and it reprojects the corners correctly...
When running MultiCol-SLAM, the feature matching looks correct and it looks like it can initialize and start tracking, BUT it doesn't!!!!
Please let me know if you have dealt with the same situation and have any insight.
In Debug mode the tracking will not work properly. This is due to the fact that multiple threads are used. If for example the matching thread is to slow, no new features will be created and the tracking will be lost. You could delay the tracking thread by inserting a sleep(500) or something like that in the tracking thread.
Everyone who has issues with the calibration files: Instead of launching the SLAM "out-of-the-box" try to create a small C++ project that isolates and debugs all of the involved functions (world2cam, cam2world, file importer, ...).
Then you take a checkerboard image, estimate the absolute orientation (PnP) and reproject the object points to see if import, calibration values and so on work properly.