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Livox-SDK / livox_camera_lidar_calibration

Calibrate the extrinsic parameters between Livox LiDAR and camera
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Hi, I've got an erroer when tring projectCloud.launch and colorLidar.launch #36

Open ltf1412 opened 2 years ago

ltf1412 commented 2 years ago

The result of projectCloud was shown as: 2021-12-30 15-40-59 的屏幕截图 The result of colorLidar was shown as: 2021-12-30 15-42-40 的屏幕截图 The extrinsic of getExt1 was： 2021-12-28 20-06-22 的屏幕截图 The extrinsic of getExt2 was： 2021-12-29 20-51-22 的屏幕截图 I used a livox mid 70, whose FOV is 70.4 ° circular field, and the camera was Azure KinectV3. The 4:3 ratio close to the circular field of view was used in shooting, and the picture size was 1024x768 pixels. The camera had been corrected for distortion, so the distortion parameter was 0. The camera matrix obtained using OpencV is as follows: image The view of camera and lidar contained the same object, but there was basically no projection points, there was a small part of dense blue area in the upper left corner. Besides, the point cloud was not colored, what was the problem?

Minsu-Kim1822 commented 2 years ago

I've got an same problem and same error at getExt1, get Ex2.launch. points without color in rviz, only black points. any solutions?