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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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Recording my own data #3

Closed islamtalha01 closed 3 years ago

islamtalha01 commented 3 years ago

HI, I want to know that how you recorded the bag file of your lidar stream and camera stream at the same time. I basically want to know that what are the steps to make your own data set for calibration.

darrenjkt commented 3 years ago

You can record a rosbag using rosbag record. We simply specified the camera and lidar topics for recording as such: 

rosbag record -O calib_dataset /velodyne/front/points /gmsl/A0/image_color

For more info, see this tutorial.

islamtalha01 commented 3 years ago

I have done recording the data but I am facing an issue I am not able to extract feature from the live fee of both sensors. The recorded file is also not showing point clouds. my lidar is os1 64. i am trying to get extrinsic parameter of calibration. kindly see my video on google drive so you can understand the scenario. https://drive.google.com/drive/folders/1lQMeMv0lzVR_JxMgSZebeir5DbGxhlOL?usp=sharing

On Sat, Sep 4, 2021 at 1:24 PM Darren Tsai @.***> wrote:

You can record a rosbag using rosbag record. We simply specified the camera and lidar topics for recording as such:

rosbag record -O calib_dataset /velodyne/front/points /gmsl/A0/image_color

For more info, see this tutorial http://wiki.ros.org/rosbag/Tutorials/Recording%20and%20playing%20back%20data .

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islamtalha01 commented 3 years ago

Now i am able to extract the checkerboard but i am getting an error due to which i am not able to calibrate. I have attached the error screenshot. Kindly reply as soon as possible.

On Tue, Sep 21, 2021 at 6:19 AM Darren Tsai @.***> wrote:

Closed #3 https://github.com/acfr/cam_lidar_calibration/issues/3.

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