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No corners could be extracted #682
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Hello! Did you checked yout target table .yaml? In this file you have to specify the number of rows and columns as well as the square size. |
Regarding AprilGrids, sometimes the problem lies not in incorrect configuration written in .yaml, but in wrong ID assignment issues. Here assumed that IDs are starting with 0:
As a hotfix, you can find out the start ID and subtract it from all the IDs. For my case I was able to obtain proper calibration with this fix. |
I've taken a lot of photos, why do I keep having this problem? Can anyone help me see it, here's my error and photos. Thank you so much!!
importing libraries
Initializing cam0:
Camera model: pinhole-radtan
Dataset: /data/20240423/vis_ir_nir.bag
Topic: /cam0/image_raw
Number of images: 43
Extracting calibration target corners
Progress 43 / 43 Time remaining: 59m 60s
[FATAL] [1713867776.590952]: No corners could be extracted for camera /cam0/image_raw! Check the calibration target configuration and dataset.
Traceback (most recent call last):
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 465, in
main()
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 188, in main
if not cam.initGeometryFromObservations(observations):
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 57, in initGeometryFromObservations
success = self.geometry.initializeIntrinsics(observations)
RuntimeError: [Exception] /catkin_ws/src/kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp:716: initializeIntrinsics() assert(observations.size() != 0) failed: Need min. one observation
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