How to get the initial value of extrinsic parameters between lidar and camera

[lidepin]

How can I get the initial value of extrinsic parameters based on my PNG and PCD between lidar and camera in lidar2camera project? So I think this is a tool for fine-tuning, not for calibration，right？

[xiaokn]

How can I get the initial value of extrinsic parameters based on my PNG and PCD between lidar and camera in lidar2camera project? So I think this is a tool for fine-tuning, not for calibration，right？

An initial value can be set according to the corresponding relationship of the sensor's coordinate system.

[lidepin]

How can I get the initial value of extrinsic parameters based on my PNG and PCD between lidar and camera in lidar2camera project? So I think this is a tool for fine-tuning, not for calibration，right？

An initial value can be set according to the corresponding relationship of the sensor's coordinate system.

可以举个例子吗，或者推荐一下计算初值的相关资料，谢谢

[zpengch]

如何在lidar2camera项目中根据我的激光雷达和相机之间的PNG和PCD获取外部参数的初始值？所以我认为这是一个微调的工具，而不是校准的工具，对吧？

可以根据传感器坐标系的对应关系设置一个初始值。

可以举个例子吗，或者推荐一下计算初值的相关资料，谢谢

就是根据你传感器的安装位置，给一个大概的初值，比如你认为传感器之间的旋转角为0度，就给0度，像激光雷达和相机的坐标系不一致，所以你的初值肯定要加一个旋转角

[Binbin418916]

How can I get the initial value of extrinsic parameters based on my PNG and PCD between lidar and camera in lidar2camera project? So I think this is a tool for fine-tuning, not for calibration，right？

An initial value can be set according to the corresponding relationship of the sensor's coordinate system.

也注意到了JointCalib外参初值的问题，请问初值的误差能容忍多少？如果没法量没有大概初值怎么办？

[daikunpeng]

我注意到在摄像头内参标定中，标定后的distortion参数有5个，是[k1 k2 p1 p2 k3]吗？然而在 lidar2camera/manual_calib 中的初始值设定中，摄像头distortion初始值的设定只有四个值，他们的物理含义是哪几个？希望能够得到回复，谢谢。

[ajiang17]

我注意到在摄像头内参标定中，标定后的distortion参数有5个，是[k1 k2 p1 p2 k3]吗？然而在 lidar2camera/manual_calib 中的初始值设定中，摄像头distortion初始值的设定只有四个值，他们的物理含义是哪几个？希望能够得到回复，谢谢。

同问， 如果有5个畸变包括径向畸变函数，请问如何设置json 配置文件？

[callzhang]

我注意到在摄像头内参标定中，标定后的distortion参数有5个，是[k1 k2 p1 p2 k3]吗？然而在 lidar2camera/manual_calib 中的初始值设定中，摄像头distortion初始值的设定只有四个值，他们的物理含义是哪几个？希望能够得到回复，谢谢。

同问， 如果有5个畸变包括径向畸变函数，请问如何设置json 配置文件？

同问参数配置的文档，现在只是有个“data”的参数

[ChenZhiKai66]

How can I get the initial value of extrinsic parameters based on my PNG and PCD between lidar and camera in lidar2camera project? So I think this is a tool for fine-tuning, not for calibration，right？

An initial value can be set according to the corresponding relationship of the sensor's coordinate system.

Hello, may I ask: I set the initial value to 0, Residual and Jacobian evaluation failed When I set it to a non-zero value, tvec still outputs according to its initial value and is not optimized