Open YHuniv opened 10 months ago
Hello, just add a column of zeros in the final representation of the matrix:
camera matrix: [430.215550, 0.000000, 306.691343, 0.000000, 0.000000, 430.531693, 227.224800, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
Thanks, you did that because of the RTLc matcix in the .cpp because it's 4*4 !!
How did you the camera and lidar calibration ? ( i tried cam-lidar_calibration package)
my result is in this format (roll, pitch, yaw,x,y,z). How to convert to rlc and tlc format ?
I think for tlc is directly : x,y and z.
thanks again
Yes, tlc is directly x,y,z. And for roll, pitch and yaw you can use the Eigen library, check this example
Hi again, Still facing a problem with the fusion. Like a told you I used the this packge for calibration : https://github.com/acfr/cam_lidar_calibration/tree/master The result seems to be good. (see pictures).
Calibratio parmas are : Calibration params (roll,pitch,yaw,x,y,z): -1.5806,-0.0090,-1.4611,0.1701,0.0370,-0.4268
Mean reprojection error across 53 samples
I dont understand where is the error, any idea ? thanks by advance
Hi, could you send a picture of how your camera and LiDAR are located?
I also suggest you to check this issue. It shows there how the homogeneous transformation matrix is used in the application, as the tool I used to calibrate the sensors considers a different reference axis for the LiDAR compared to the method you have used for the LiDAR-Camera calibration.
Hi,
Here a picture for my confiuration. (velodyne vlp 16 and monucular camera).
In Rviz, I used my calibration pameters for transformation : rosrun tf static_transform_publisher 0.1701 0.0370 -0.4268 -1.5806 -0.0090 -1.4611 velodyne camera_frame 100. It seems correct, i saw same configuration in you ranswer in issue(see picture).
thanks
I think the main problem is the representation of your axes in the camera frame. I suggest you to check this issue, it shows how the Lidar-camera axes are represented. To know if this is the problem, do a quick test with the rotation matrix RPY (0,0,0) and only with tlc (0.1701 0.0370 -0.4268), that is in the file cfg_params.yaml
rlc: [ 1.0 ,0.0 ,0.0,
0.0 , 1.0 ,0.0,
0.0 , 0.0 ,1.0 ]
tlc: [ 0.1701, 0.0370, -0.4268]
On the other hand, a problem I see also in the future is that your RGB image is not rectified. The image is distorted due to the optical characteristics of the lens. I suggest you check how to rectify the image, here is an example.
Hi,
Using the camera_calibration packages, we get a 3*3 camera matrix 430.215550 0.000000 306.691343 0.000000 430.531693 227.224800 0.000000 0.000000 1.000000 https://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
But in your cfg_params.yaml you are using 3*4
camera_matrix: [915.828857, 0.000000, 644.015094, 0.000000, 0.000000, 925.069885, 372.912666, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000,]
How did you get that ? thanks