远方传来风笛

> @ChongjianYUAN 您好，我使用mid360和realsense435做标定，但是mid360的点云很稀疏，和相机标定无法得到外参且也进入不到优化步骤。一直在报错Cannot create a KDTree with an empty input cloud! 我根据之前的方法都做了修改，但是还是不行，是不是因为mid360的点云太稀疏，没有办法提取到边缘的问题。 > >  > >   请问您用mid360和d435标定成功了吗

请问解决了吗

> Hello, I encountered the same problem as you. I finally found out that my camera internal parameters were wrong. You should focus on checking your dist_coeffs. good luck! 你好，我标定相机内参好多次，都是差不多的结果，但是每次用来标定MID360的效果就很差，请问是相机内参的原因吗？

> Hello, I encountered the same problem as you. I finally found out that my camera internal parameters were wrong. You should focus on checking your dist_coeffs. good luck! 你好，我标定相机内参好多次，都是差不多的结果，但是每次用来标定MID360的效果就很差，请问是相机内参的原因吗？