#QUESTION# My number of inliers is too low about hand_eye_calibration HOT 3 CLOSED

Can you send us a sample image of the detected target?
Do you have the proper target configured? (is camera_info/april.yaml correct)

(see e.g. https://github.com/ethz-asl/hand_eye_calibration/blob/master/hand_eye_calibration/calib/target_55_165.yaml)

Did you try to run our test bags (https://projects.asl.ethz.ch/datasets/doku.php?id=handeyecalibration2017)?

from hand_eye_calibration.

So my april.yaml look like that (download from there https://drive.google.com/file/d/0B0T1sizOvRsUdjFJem9mQXdiMTQ/edit print in A3 format)

target_type: 'aprilgrid' 
april_tag_number_vertical: 6               
april_tag_number_horizontal: 6               
april_tag_size_m: 0.028           
april_tag_gap_size_m: 0.007         
april_tag_number_pixel_boarder: 2 

And here is one of the detected target :

I will try to execute your test bags and I will give you my feedback as soon as possible.

Edit 1 :
I have test it with robot_arm_sim_color dataset and the results are perfect

from hand_eye_calibration.

Ok i found a solution @ffurrer,

The model from my intrinsic parameter was different from plumb bob model (i use opencv model : https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) so i just ignore tangential distorsion and only take the radial distorsion from my previous intrinsic, copy paste it in the rigth yaml format.

Thanks you for your time and have a good week-end

Bwaki

from hand_eye_calibration.