Calibrating Extrinsics and DFS
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Re: VOXL2 Stereo Calibrate ERROR
Hey everyone,
I'm recalibrating the Sentinel stereo cameras because it was not publishing DFS (even though the server is running).
Upon trying to recalibrate, I'm having a similar issue to @AP123 post VOXL2 Stereo Calibrate ERROR.
All comments and recommendations are welcome!
Thanks,
Taylorvoxl2:/$ voxl-calibrate-camera stereo_front -s 6x9 -l 0.02 Please open voxl-portal in a web browser to view the camera calibrator overlay stream Running Calibration... Calibrating Left Camera Running Calibration... Running Calibration... Running Calibration... Matrix [548.5382302680308, 0, 285.3415669716975; 0, 547.0025566893958, 235.3038337229943; 0, 0, 1] Distortion [-0.2424323763061194; 0.1269460760379177; -0.004142521667776578; 0.002519660999314344; 0] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.484597 Calibration Succeded! Calibrating Right Camera Running Calibration... Running Calibration... Matrix [543.062224502327, 0, 301.719040785862; 0, 542.0482517180614, 245.9552291727296; 0, 0, 1] Distortion [-0.236760512593058; 0.1416137307136648; -0.002976128262009898; 0.0009654060730829055; 0] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.528407 Calibration Succeded! Calibrating Extrinsics 7 frames will be processed R [0.999257189294548, -0.03760915797903753, -0.008403622984628861; 0.03775986819471018, 0.9991144801232372, 0.01855930930804526; 0.007698181413691082, -0.01886284295066306, 0.999792444039632] T [-0.07616424149746555; -0.001485191500948734; -0.01076830039005899] Re-projection error reported by stereoCalibrate: 1.421312 Detected horizontal stereo pair Distance between cameras: 0.0762 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5 Saved intrinsics to: /data/modalai/opencv_stereo_front_intrinsics.yml Running Calibration... Exiting CleanlyAdditional details for reference:
voxl2:/$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ------------------------------------------------------------------- docker-autorun | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 97.7% voxl-cpu-monitor | Enabled | Running | 0.4% voxl-dfs-server | Enabled | Running | 18.2% voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 4.4% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 2.7% voxl-modem | Disabled | Not Running | voxl-neopixel-manager | Disabled | Not Running | voxl-open-vins-server | Disabled | Not Running | voxl-portal | Enabled | Running | 31.8% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 29.5% voxl-qvio-server | Enabled | Running | 13.5% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Enabled | Completed | voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 4.1% voxl-wait-for-fs | Enabled | Completed |mdr@mdr-System-Product-Name:~$ adb shell * daemon not running; starting now at tcp:5037 * daemon started successfully ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.7.4-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.1.3-1 -
Hey Taylor, happy to try and help!
On calibrating we try to keep the reprojection error as low as possible. You're getting an error of 1.42 which is almost triple what we'd like at worst. I'd recommend trying to recalibrate in different lighting conditions with as flat of a checkerboard as you can make. Even small imperfections here can lead to bad calibration.
Hope this helps!
Thomas
