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TurtleZhong / camera_lidar_calibration_v2

ROS VERSION: A tool used for calibrate 2D laser range finder (LRF) and camera.version1：https://github.com/TurtleZhong/camera_lidar_calibration
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请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image #1

Open Kris-Zh opened 5 years ago

Kris-Zh commented 5 years ago 
 学长您好，我在测试您的标定方法;我选择了35个点记录到了data里面。R和T也分别计算出来了，但是最后运行那个roslaunch camera_laser_calibration reprojection_test后并没有出现重投影的结果。
这是输出：

$ roslaunch camera_laser_calibration reprojection_test.launch ... logging to /home/tent/.ros/log/d2fa9d90-6a86-11e9-b397-fcaa1443ac50/roslaunch-zgq-8859.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:33439/

SUMMARY

PARAMETERS

NODES / reprojection_test (camera_laser_calibration/reprojection_test) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[reprojection_test-1]: started with pid [8876] process[rviz-2]: started with pid [8877] Config.path = /home/tent/Camera_ws/src/camera_lidar_calibration/config/config.yaml [ INFO] [1556547076.207772850]: [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207827004]: [-446309; -311055; 1076620] K: [1870.089100832898, 0, 775.9379595721259; 0, 1868.052541494669, 539.6847247483735; 0, 0, 1] D: [-0.1176336838255311; 0.1704938674443067; 0.001421206207294814; 0.001356481077448661; 0] [ INFO] [1556547076.207895021]: Rcl = [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207913609]: tcl = [-446309; -311055; 1076620] [ INFO] [1556547076.207926375]: image_topic: /camera/image_raw [ INFO] [1556547076.207937221]: scan_topic: /scan image

TurtleZhong commented 5 years ago

您好 我明天再去check一下代码吧 你也可以直接看一下重投影的那个cpp 我觉得我应该是写了啊 你是不是没有把bag再跑一遍啊 因为显示结果也需要跑bag的啊

---原始邮件--- 发件人: "Mrggggg"notifications@github.com 发送时间: 2019年4月29日(星期一) 晚上10:22 收件人: "TurtleZhong/camera_lidar_calibration_v2"camera_lidar_calibration_v2@noreply.github.com; 抄送: "Subscribed"subscribed@noreply.github.com; 主题: [TurtleZhong/camera_lidar_calibration_v2] 请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image (#1)

学长您好，我在测试您的标定方法;我选择了35个点记录到了data里面。R和T也分别计算出来了，但是最后运行那个roslaunch camera_laser_calibration reprojection_test后并没有出现重投影的结果。 这是输出：
$ roslaunch camera_laser_calibration reprojection_test.launch ... logging to /home/tent/.ros/log/d2fa9d90-6a86-11e9-b397-fcaa1443ac50/roslaunch-zgq-8859.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:33439/

SUMMARY

PARAMETERS

/calib_result_path: /home/tent/Camera...

/image_topic: /camera/image_raw

/rosdistro: kinetic

/rosversion: 1.12.13

/scan_topic: /scan

NODES / reprojection_test (camera_laser_calibration/reprojection_test) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[reprojection_test-1]: started with pid [8876] process[rviz-2]: started with pid [8877] Config.path = /home/tent/Camera_ws/src/camera_lidar_calibration/config/config.yaml [ INFO] [1556547076.207772850]: [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207827004]: [-446309; -311055; 1076620] K: [1870.089100832898, 0, 775.9379595721259; 0, 1868.052541494669, 539.6847247483735; 0, 0, 1] D: [-0.1176336838255311; 0.1704938674443067; 0.001421206207294814; 0.001356481077448661; 0] [ INFO] [1556547076.207895021]: Rcl = [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207913609]: tcl = [-446309; -311055; 1076620] [ INFO] [1556547076.207926375]: image_topic: /camera/image_raw [ INFO] [1556547076.207937221]: scan_topic: /scan

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TurtleZhong commented 5 years ago

我刚刚去看了一下源码 应该是发布的时候有问题 我可能没写topic 然后你要不直接在重投影的cpp里边 把图imshow出来 或者你自己写个发布

TurtleZhong commented 5 years ago 
 学长您好，我在测试您的标定方法;我选择了35个点记录到了data里面。R和T也分别计算出来了，但是最后运行那个roslaunch camera_laser_calibration reprojection_test后并没有出现重投影的结果。
这是输出：

$ roslaunch camera_laser_calibration reprojection_test.launch ... logging to /home/tent/.ros/log/d2fa9d90-6a86-11e9-b397-fcaa1443ac50/roslaunch-zgq-8859.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:33439/

SUMMARY

PARAMETERS

  • /calib_result_path: /home/tent/Camera...
  • /image_topic: /camera/image_raw
  • /rosdistro: kinetic
  • /rosversion: 1.12.13
  • /scan_topic: /scan

NODES / reprojection_test (camera_laser_calibration/reprojection_test) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[reprojection_test-1]: started with pid [8876] process[rviz-2]: started with pid [8877] Config.path = /home/tent/Camera_ws/src/camera_lidar_calibration/config/config.yaml [ INFO] [1556547076.207772850]: [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207827004]: [-446309; -311055; 1076620] K: [1870.089100832898, 0, 775.9379595721259; 0, 1868.052541494669, 539.6847247483735; 0, 0, 1] D: [-0.1176336838255311; 0.1704938674443067; 0.001421206207294814; 0.001356481077448661; 0] [ INFO] [1556547076.207895021]: Rcl = [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207913609]: tcl = [-446309; -311055; 1076620] [ INFO] [1556547076.207926375]: image_topic: /camera/image_raw [ INFO] [1556547076.207937221]: scan_topic: /scan image

你这个标定似乎有问题啊 你仔细看你的

 学长您好，我在测试您的标定方法;我选择了35个点记录到了data里面。R和T也分别计算出来了，但是最后运行那个roslaunch camera_laser_calibration reprojection_test后并没有出现重投影的结果。
这是输出：

$ roslaunch camera_laser_calibration reprojection_test.launch ... logging to /home/tent/.ros/log/d2fa9d90-6a86-11e9-b397-fcaa1443ac50/roslaunch-zgq-8859.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:33439/

SUMMARY

PARAMETERS

  • /calib_result_path: /home/tent/Camera...
  • /image_topic: /camera/image_raw
  • /rosdistro: kinetic
  • /rosversion: 1.12.13
  • /scan_topic: /scan

NODES / reprojection_test (camera_laser_calibration/reprojection_test) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[reprojection_test-1]: started with pid [8876] process[rviz-2]: started with pid [8877] Config.path = /home/tent/Camera_ws/src/camera_lidar_calibration/config/config.yaml [ INFO] [1556547076.207772850]: [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207827004]: [-446309; -311055; 1076620] K: [1870.089100832898, 0, 775.9379595721259; 0, 1868.052541494669, 539.6847247483735; 0, 0, 1] D: [-0.1176336838255311; 0.1704938674443067; 0.001421206207294814; 0.001356481077448661; 0] [ INFO] [1556547076.207895021]: Rcl = [-0.2961342944500001, 0.4714774343942, -0.8306709013144; -0.6231966485498001, 0.5636865030646199, 0.5421103929956; 0.7238308190936, 0.6782085002524, 0.12689604067862] [ INFO] [1556547076.207913609]: tcl = [-446309; -311055; 1076620] [ INFO] [1556547076.207926375]: image_topic: /camera/image_raw [ INFO] [1556547076.207937221]: scan_topic: /scan image

你这个标定有问题啊 你仔细看你标定出来的t 数值太大了，我之前做这个方法的时候需要一个比较好的初值，所有你尽量提供一个比较好的初值，用手量就行

Kris-Zh commented 5 years ago

感谢您的即使回复 我是把相机和雷达并排放置的，t的初值我设置的是（0.7,0,0）。看到有一个话题发布是/debug_reprojection但是没有图像，ROS编程这方面我是刚接触，您说的在cpp里inshow图像我不太清楚。

Kris-Zh commented 5 years ago

我没有跑bag，直接用的两个传感器的实时数据

TurtleZhong commented 5 years ago

建议用bag 方便调试 然后我觉得你这个结果不太对

---原始邮件--- 发件人: "Mrggggg"notifications@github.com 发送时间: 2019年4月30日(星期二) 下午2:31 收件人: "TurtleZhong/camera_lidar_calibration_v2"camera_lidar_calibration_v2@noreply.github.com; 抄送: "Comment"comment@noreply.github.com;"Xinliang Zhong"xinliangzhong@foxmail.com; 主题: Re: [TurtleZhong/camera_lidar_calibration_v2] 请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image (#1)

我没有跑bag，直接用的两个传感器的实时数据

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Kris-Zh commented 5 years ago

好的 那我重新标定一下 感谢！

TurtleZhong commented 5 years ago

好的 尽量给一个不错的初值

---原始邮件--- 发件人: "Mrggggg"notifications@github.com 发送时间: 2019年4月30日(星期二) 下午5:41 收件人: "TurtleZhong/camera_lidar_calibration_v2"camera_lidar_calibration_v2@noreply.github.com; 抄送: "Comment"comment@noreply.github.com;"Xinliang Zhong"xinliangzhong@foxmail.com; 主题: Re: [TurtleZhong/camera_lidar_calibration_v2] 请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image (#1)

好的 那我重新标定一下 感谢！

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Kris-Zh commented 5 years ago

哦，对了;还有一个问题，运行您的给的bag,您默认的图像话题是/xp2s/left/image_raw，我这边是/camera/image_raw;我即使修改了collect_laser_image_data.launch中的改为/camera/image_raw，在rviz里面仍然没有图像，我不知道怎么修改能够显示。

TurtleZhong commented 5 years ago

launch里边改完之后 rviz里边image显示的topic还需要改一下 然后保存一下就行

---原始邮件--- 发件人: "Mrggggg"notifications@github.com 发送时间: 2019年4月30日(星期二) 晚上6:11 收件人: "TurtleZhong/camera_lidar_calibration_v2"camera_lidar_calibration_v2@noreply.github.com; 抄送: "Comment"comment@noreply.github.com;"Xinliang Zhong"xinliangzhong@foxmail.com; 主题: Re: [TurtleZhong/camera_lidar_calibration_v2] 请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image (#1)

哦，对了;还有一个问题，运行您的给的bag,您默认的图像话题是/xp2s/left/image_raw，我这边是/camera/image_raw;我即使修改了collect_laser_image_data.launch中的改为/camera/image_raw，在rviz里面仍然没有图像，我不知道怎么修改能够显示。

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Kris-Zh commented 5 years ago

好像不行，我把launch里面改了，rviz里面只有/camera/image_raw话题，还是没有，是不是这个bag图像没有成功发布，激光/scan有显示。 image

TurtleZhong commented 5 years ago

我现在也不确定了 你用rqt工具试试看有没有图像输出 代码有点久远 自己尝试去的debug吧 理论上应该没啥问题的 也可能我代码里边用的message filter 要求两个消息的时钟是一样的，你数据的两个timestamp可能明显不一致 你可以尝试用我的v1版本 不用ROS的 用起来可能也差不太多

---原始邮件--- 发件人: "Mrggggg"notifications@github.com 发送时间: 2019年4月30日(星期二) 晚上8:07 收件人: "TurtleZhong/camera_lidar_calibration_v2"camera_lidar_calibration_v2@noreply.github.com; 抄送: "Comment"comment@noreply.github.com;"Xinliang Zhong"xinliangzhong@foxmail.com; 主题: Re: [TurtleZhong/camera_lidar_calibration_v2] 请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image (#1)

好像不行，我把launch里面改了，rviz里面只有/camera/image_raw话题，还是没有，是不是这个bag图像没有成功发布，激光/scan有显示。

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TurtleZhong commented 5 years ago

好像不行，我把launch里面改了，rviz里面只有/camera/image_raw话题，还是没有，是不是这个bag图像没有成功发布，激光/scan有显示。 image

我check了代码 这个是因为reprojection代码用的是messagefilter方法，这个需要两个topic是同一个时钟源的 而且我的这个工程有一个bag样例 在这里https://github.com/TurtleZhong/camera_lidar_calibration_v2/tree/master/example_rosbag 所以如果你的传感器不做一些处理的话是没法进callback的，你直接照着代码改改就好了

Kris-Zh commented 5 years ago

好吧 您说的我其实不太明白，我探索一下。另外问您一下关于V2版本的一些其他遇到的问题： 1.这个选取特征点有没有什么要求？对数量和位置上的要求？我是直接在雷达前面放了一个箱子，显示一条直线，就在这条直线上选点，不知道这样行不行。 2.我重新标定了26个点，这次标定失败了（失败了两次了），我把输出放下面了。（是因为点太少还是我选的点不好吗？） 3.标定的src里面是只初始化 t 吗？ `$ roslaunch camera_laser_calibration calibration.launch ... logging to /home/tent/.ros/log/836ba458-6b54-11e9-8d5c-fcaa1443ac50/roslaunch-zgq-8507.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:42275/

SUMMARY

PARAMETERS

NODES / calibration (camera_laser_calibration/calibration)

ROS_MASTER_URI=http://localhost:11311

process[calibration-1]: started with pid [8524] Config.path = /home/tent/Camera_ws/src/camera_lidar_calibration/config/config.yaml data.path = /home/tent/Camera_ws/src/camera_lidar_calibration/data/data.txt Before Optimization R = 1 0 0 0 1 0 0 0 1 t = 0 0.1 0 Load data suscessfully! WARNING: Logging before InitGoogleLogging() is written to STDERR W0430 23:15:54.525885 8524 residual_block.cc:131]

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all
residual and jacobians that were requested or there was a non-finite value (nan/infinite) generated during the or jacobian computation.

Residual Block size: 3 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column
and the value of the jacobian under the corresponding residual. If a ParameterBlock was held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry of the Jacobian/residual array was requested but was not written to by user code, it is indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating to Inf or NaN is also an error.

Residuals: inf inf

Parameter Block 0, size: 4

       0 |         -inf         -inf 
       0 |          inf          inf 
       0 |         -nan         -nan 
       1 |         -nan         -nan

Parameter Block 1, size: 3

       0 |         -nan         -nan 
     0.1 |         -nan         -nan 
       0 |         -inf         -inf

Parameter Block 2, size: 3

   1.381 | Not Computed  Not Computed  
    0.23 | Not Computed  Not Computed  
       0 | Not Computed  Not Computed

E0430 23:15:54.525949 8524 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.

Solver Summary (v 1.14.0-eigen-(3.2.92)-lapack-suitesparse-(4.4.6)-cxsparse-(3.1.4)-eigensparse-openmp-no_tbb)

                                 Original                  Reduced

Parameter blocks 29 2 Parameters 88 7 Effective parameters 87 6 Residual blocks 27 27 Residuals 54 54

Minimizer TRUST_REGION

Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver ordering AUTOMATIC 2

Cost: Initial -1.000000e+00

Minimizer iterations 0 Successful steps 0 Unsuccessful steps 0

Time (in seconds): Preprocessor 0.000035

Residual only evaluation 0.000000 (0) Jacobian & residual evaluation 0.000157 (1) Linear solver 0.000000 (0) Minimizer 0.000183

Postprocessor 0.000004 Total 0.000222

Termination: FAILURE (Residual and Jacobian evaluation failed.)

After Optimization: R = 1 0 0 0 1 0 0 0 1 t = 0 0.1 0 Save optimized result in data/calibration_result.txt[calibration-1] process has finished cleanly log file: /home/tent/.ros/log/836ba458-6b54-11e9-8d5c-fcaa1443ac50/calibration-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done `

TurtleZhong commented 5 years ago

箱子一次只能选一个点啊 你要么动雷达和相机固连的车体 要么动箱体 而且每次一个位置在直线上应该只能选一个点 图像上对应的应该是你自己做的标记 而雷达应该是突出的那个点 具体你可以看V1非ROS版本 有详细的标志物说明 以及是怎么特征点检测的 如果我这个版本实在不能用的话 你还可以参考旷视科技开源的标定方法 贺一家师兄做的。另外工程里边我可能上传了怎么选取点和怎么标定的演示视频 https://github.com/TurtleZhong/camera_lidar_calibration_v2/blob/master/how_to_use.mp4 祝好运。另外初值rt都要给 尽量给个准点的 因为我这个方法用的是数值求导 并没有自己去算雅克比矩阵

---原始邮件--- 发件人: "Mrggggg"notifications@github.com 发送时间: 2019年4月30日(星期二) 晚上11:29 收件人: "TurtleZhong/camera_lidar_calibration_v2"camera_lidar_calibration_v2@noreply.github.com; 抄送: "Comment"comment@noreply.github.com;"Xinliang Zhong"xinliangzhong@foxmail.com; 主题: Re: [TurtleZhong/camera_lidar_calibration_v2] 请问最后重投影的结果是发布在/debug_reprojection话题下吗？我的这个话题显示NO image (#1)

好吧 您说的我其实不太明白，我探索一下。另外问您一下关于V2版本的一些其他遇到的问题： 1.这个选取特征点有没有什么要求？对数量和位置上的要求？我是直接在雷达前面放了一个箱子，显示一条直线，就在这条直线上选点，不知道这样行不行。 2.我重新标定了26个点，这次标定失败了（失败了两次了），我把输出放下面了。（是因为点太少还是我选的点不好吗？） 3.标定的src里面是只初始化 t 吗？ `$ roslaunch camera_laser_calibration calibration.launch ... logging to /home/tent/.ros/log/836ba458-6b54-11e9-8d5c-fcaa1443ac50/roslaunch-zgq-8507.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:42275/

SUMMARY

PARAMETERS

/rosdistro: kinetic

/rosversion: 1.12.13

NODES / calibration (camera_laser_calibration/calibration)

ROS_MASTER_URI=http://localhost:11311

process[calibration-1]: started with pid [8524] Config.path = /home/tent/Camera_ws/src/camera_lidar_calibration/config/config.yaml data.path = /home/tent/Camera_ws/src/camera_lidar_calibration/data/data.txt Before Optimization R = 1 0 0 0 1 0 0 0 1 t = 0 0.1 0 Load data suscessfully! WARNING: Logging before InitGoogleLogging() is written to STDERR W0430 23:15:54.525885 8524 residual_block.cc:131]

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all residual and jacobians that were requested or there was a non-finite value (nan/infinite) generated during the or jacobian computation.

Residual Block size: 3 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column and the value of the jacobian under the corresponding residual. If a ParameterBlock was held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry of the Jacobian/residual array was requested but was not written to by user code, it is indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating to Inf or NaN is also an error.

Residuals: inf inf

Parameter Block 0, size: 4 0 | -inf -inf 0 | inf inf 0 | -nan -nan 1 | -nan -nan
Parameter Block 1, size: 3 0 | -nan -nan 0.1 | -nan -nan 0 | -inf -inf
Parameter Block 2, size: 3 1.381 | Not Computed Not Computed 0.23 | Not Computed Not Computed 0 | Not Computed Not Computed
E0430 23:15:54.525949 8524 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.

Solver Summary (v 1.14.0-eigen-(3.2.92)-lapack-suitesparse-(4.4.6)-cxsparse-(3.1.4)-eigensparse-openmp-no_tbb) Original Reduced
Parameter blocks 29 2 Parameters 88 7 Effective parameters 87 6 Residual blocks 27 27 Residuals 54 54

Minimizer TRUST_REGION

Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used
Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver ordering AUTOMATIC 2

Cost: Initial -1.000000e+00

Minimizer iterations 0 Successful steps 0 Unsuccessful steps 0

Time (in seconds): Preprocessor 0.000035

Residual only evaluation 0.000000 (0) Jacobian & residual evaluation 0.000157 (1) Linear solver 0.000000 (0) Minimizer 0.000183

Postprocessor 0.000004 Total 0.000222

Termination: FAILURE (Residual and Jacobian evaluation failed.)

After Optimization: R = 1 0 0 0 1 0 0 0 1 t = 0 0.1 0 Save optimized result in data/calibration_result.txt[calibration-1] process has finished cleanly log file: /home/tent/.ros/log/836ba458-6b54-11e9-8d5c-fcaa1443ac50/calibration-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done `

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Kris-Zh commented 5 years ago

好的 感谢学长的耐心指导！