From a9d18b04ff55751b9689f0999f8c643b3c7bce12 Mon Sep 17 00:00:00 2001 From: Lucas Teixeira Date: Wed, 6 Dec 2023 16:44:44 +0100 Subject: [PATCH] fix kalibr_calibrate_cameras app for a single camera. Otherwise the kalibr stops for lack of overlap between cameras --- .../kalibr/python/kalibr_calibrate_cameras | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras index dc6a9091b..1cd29e473 100755 --- a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras +++ b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras @@ -201,7 +201,7 @@ def main(): #initialize the calibration graph graph = kcc.MulticamCalibrationGraph(obsdb) - if not graph.isGraphConnected(): + if not graph.isGraphConnected() and len(cameraList)>1: obsdb.printTable() print("Cameras are not connected through mutual observations, please check the dataset. Maybe adjust the approx. sync. tolerance.") graph.plotGraph()