@Alex-Gardner said in Acceptable tracking camera calibration reprojection error:
Ah,
If you're talking about the calibration for the fisheye tracking lens the rules are different. It's much easier to calculate the intrinsics of the fisheye lenses since there's much more warp in the images, hence why there's only 4 images required for the calibration. A result of this is that the reprojection cutoff will be much higher because it's such a distorted image (we have found that <=5 works for the fisheye).
If you run the calibrator on one of the pinhole stereo cameras you'll see a lot more of the target rectangles, some of which have been intentionally elongated as to force the user to include some skew in the input set. This isn't necessary for the fisheye though.
Do you know if the reprojection error is a good and reliable metric to determine if the calibrationis done well?
I have on rare occasions calibrated the fisheye cam, obtained reproj errors of less <0.3, but the calibration was obviously off. The aircraft was very unstable at takeoff, hovering and pure yaw rotations. The instability went away after i performed a recalibration (even if the reproj error ismore than what i had before)
I could confirm this because i kept the old intrinsics fileand i can reproduce the instability simpyly by swapping back to the old file
