diff --git a/applications/calibration-multi/src/multicalibrate.cpp b/applications/calibration-multi/src/multicalibrate.cpp index 074e778ed8323fed3f7a8625288b37f62e43f612..2292d178d70f0f7c68b79cbbf1cb9172cdd173be 100644 --- a/applications/calibration-multi/src/multicalibrate.cpp +++ b/applications/calibration-multi/src/multicalibrate.cpp @@ -393,6 +393,13 @@ double MultiCameraCalibrationNew::calibratePair(size_t camera_from, size_t camer vector<uchar> inliers; Mat F, E; F = cv::findFundamentalMat(points1, points2, fm_method_, fm_ransac_threshold_, fm_confidence_, inliers); + + if (F.empty()) + { + LOG(ERROR) << "Fundamental matrix estimation failed. Possibly degenerate configuration?"; + return INFINITY; + } + E = K2.t() * F * K1; // Only include inliers diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc index 2dac067a2115b634ec53fa73d58ef702f8d4f1ca..53673a170693bd7ffd6d4386977417897fa55b8a 100644 --- a/config/config_nick.jsonc +++ b/config/config_nick.jsonc @@ -128,7 +128,15 @@ "SDFUseGradients": false, "showBlockBorders": false }, - "baseline": 0.5, + "baseline": 0.05, + "focal": 700, + "width": 1280, + "height": 720, + "maxDepth": 15.0, + "minDepth": 0.05, + "splatting": true, + "texturing": true, + "upsampling": false, "uri": "device:virtual" } }, @@ -150,7 +158,7 @@ "confidenceThreshold": 0.0, "mls": true, "voxels": false, - "clipping": true, + "clipping": false, "bbox_x_max": 0.6, "bbox_x_min": -0.6, "bbox_y_max": 3.0,