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AFEICHINA / extended_lidar_camera_calib

This repo is an extended version of livox_camera_calib(hku-mars/livox_camera_calib), which is suitable for spinning LiDAR。
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Data collecting #6

Closed farhad-dalirani closed 1 year ago

farhad-dalirani commented 1 year ago

Hi, Can you explain how to collect data?

I should collect data for both camera and Lidar when moving? If I need to just take a picture, where to put it? and how can I do it? Which direction should I move?

Thank you,

AFEICHINA commented 1 year ago

Hi, sorry for the late reply.

1.the picture is collected automatically in step 2. 2.make sure the lidar and camera are synchronized. 3.the origin algorithm is designed for livox lidar, which can get dense pointcloud at stationary scenery. For spinning lidar, we have to move the lidar for dense map result. Therefore, you should move the sensor in all directions to get a dense and even map of the pointcloud.

farhad-dalirani commented 1 year ago

Thank you for your getting back to me.

What do you mean by synchronized? Do you mean exact synchronization? If you could elevate it a little more it would be great.

Because in my setting I collect camera and lidar data while moving and there is no synchronization between them. I use ROS time for both sensors' message timestamps.

farhad-dalirani commented 1 year ago

Ros time stamps was enough. Thank you for answers.

zayedrmdn commented 3 months ago

Hi @AFEICHINA, I'm using a 32-channel RSLidar, and the point cloud appears dense enough in the screenshot. Do I still need to move around while recording? image

AFEICHINA commented 3 months ago

Hi @AFEICHINA, I'm using a 32-channel RSLidar, and the point cloud appears dense enough in the screenshot. Do I still need to move around while recording? image

Yes, the pointclouds map are not enough when lidar stay at stationary scenery.