camera calibration error in voxl 2



  • I am trying to calibrate cameras in voxl 2. I am getting these errors.

    voxl2:/$ voxl-calibrate-camera stereo_front                
    Please open voxl-portal in a web browser to view the camera calibrator overlay stream
    Calibrating Left Camera
    Matrix
    [491.4506609522363, 0, 343.1268616858756;
     0, 490.67179245306, 235.4804561751014;
     0, 0, 1]
    Distortion
    [-0.1481214190721764;
     0.02498708234597173;
     0.000991159230027278;
     -6.427330521361146e-06;
     0]
    distortion_model: plumb_bob
    Re-projection error reported by calibrateCamera: 0.822484
    Calibration Failed
    Max reprojection error:  0.5
    Calibrating Right Camera
    Matrix
    [523.4500553997443, 0, 332.7472042332397;
     0, 521.2067837226739, 264.656951001027;
     0, 0, 1]
    Distortion
    [-0.1337234432806841;
     -0.01385024847532264;
     0.002547674724910509;
     0.001015677380225443;
     0]
    distortion_model: plumb_bob
    Re-projection error reported by calibrateCamera: 1.34008
    Calibration Failed
    Max reprojection error:  0.5
    Calibrating Extrinsics
    4 frames will be processed
    R
    [-0.7386316487794909, 0.5246197428975674, 0.4233171538969109;
     -0.09534226539741464, -0.7029539480340061, 0.7048160039132858;
     0.6673328553654314, 0.480239390622525, 0.5692424684124742]
    T
    [-0.4255699485960179;
     -0.5013472376217623;
     0.3761424672320411]
    Re-projection error reported by stereoCalibrate: 79.941693
    Detected vertical stereo pair
    Distance between cameras: 0.5013
    Extrinsics Calibration Failed
    exceeded allowable max reprojection error:  0.5
    
    Exiting Cleanly
    

    How to fix this?


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