calibration charuco

[lambdaloop]

calibration charuco

[lambdaloop]

Hi @niccle27 ,

Unfortunately, there is no way to impose the the intrinsics when doing the bundle adjustment at this time. It would be a nice feature!
Another, related feature, would be to constrain the focal length to be the same across all cameras, which seems like it would also help in your case.

For now, you could try to manually set the intrinsics after the calibration runs.

If you have a guess for the extrinsics as well, you can set the path to a calibration toml file in your config.toml like so:

[calibration]
calibration_init = 'path/to/calibration_init.toml'

The calibration_init.toml file has the exact same format as the outputted calibration.toml file, so you can use initialize with a previous calibration too.