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acfr / cam_lidar_calibration

(ITSC 2021) Optimising the selection of samples for robust lidar camera calibration. This package estimates the calibration parameters from camera to lidar frame.
Apache License 2.0
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Several Approaches and could not get results #22

Closed kimjeff-korea closed 1 year ago

kimjeff-korea commented 2 years ago

Thanks for your great result and appreciate for your work again.

I've tried several approaches, tried in ros Melodic for local environment, also on Docker. Finally I tried to make own environment as this blog says. This blog says that there is something to be modified that I tried the same but I could not get the result.

https://programming.vip/docs/cam-for-joint-calibration-of-lidar-and-camera_-lidar_-calibration.html

But the same result. No data shown on the rviz. (I modified the frame id also.) These are what I have modified and progressed.

I am using Ouster OS-1 32 channel.

1. 'Ring Match Problem I found out that the ring data is not the same as Velodyne and modified the data type as Ouster.

Modified point.h in ouster_ros official package onto uint16_t

image

Ring not match warning not visible anymore.

2. Topic Name Configuration I've used usb_cam package to publish the camera data on ROS. After that I used image_proc as following command.

ROS_NAMESPACE=usb_cam rosrun image_proc image_proc

image

RQT Graph shows proper data flow for the extraction

3. Data not shown on rviz

Two window appears and expected to adjust the thresholds to show only chessboard. But I could not get anymore of progress.

Can anyone give help for the result? Thanks in advance.

jogyul00 commented 1 year ago

I'm having the ring match problem. And I'm using os1-64 lidar. Do you know how to remapping the point type?? Please help me.

Eeaeau commented 1 year ago

I'm also trying to use an ouster lidar and are also stuck at no data showing in RVIZ.

As for changing the ring datatype, I believe he is referring to the ouster example ros driver (I archived similar result by using the ouster point inside this repo instead).

jogyul00 commented 1 year ago

Finally I can extract the chessboard with 64-ch ouster lidar. In my case, the ROS LiDAR driver's time was different with ROS time. So I just changed the lidar driver code which is ros.cpp in ouster_ros official package as a screenshot below. 스크린샷, 2022-11-25 15-36-52

kimjeff-korea commented 1 year ago

In my case, it was something with publishing parameters for camera calibration. When the camera calibration publisher does work well, the codes does a great job. Thanks.