Closed gzchenjiajun closed 8 months ago
still RANSAC unsuccessful
Is the data from my lidar not compatible with this calibration repo?
@gzchenjiajun The problem you're having is due to your setup; you're holding the checkerboard; thus, some points of your hands and arms might be included. In our experiments, we use a stand to place the board so that only the lidar detects the board.
May I ask how you filtered the point cloud? I adjusted rqt_reconfigure, but the point cloud did not change
@GodLiu1, please refer to this thread.
@GodLiu1 I am closing this due to inactivity. Feel free to open it again if you still have issues.
One is before the filter and the other is after the filter, which has been placed at 45°
![Screenshot from 2023-08-10 12-18-38](https://github.com/acfr/cam_lidar_calibration/assets/13104274/08abccb6-1e04-459c-9bd7-3111056c2543)
But RANSAC errors still occur, why?
[ INFO] [1691641310.418340591]: Ready for capture [ INFO] [1691641333.268849203]: Capturing sample [ INFO] [1691641333.414355339]: Processing sample [ INFO] [1691641333.422643699]: Chessboard found [ INFO] [1691641333.423457583]: Publishing chessboard image [ WARN] [1691641333.851872087]: Still working with last sample! [pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 1! [pcl::RandomSampleConsensus::computeModel] No samples could be selected! [pcl::SACSegmentation::segment] Error segmenting the model! No solution found. [pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 1! [pcl::RandomSampleConsensus::computeModel] No samples could be selected! [pcl::SACSegmentation::segment] Error segmenting the model! No solution found. [ERROR] [1691641334.313363673]: RANSAC unsuccessful, discarding sample - Need more lidar points on board
The following is my yaml information
Topics camera_topic: "/bonson/camera_image" camera_info: "/bonson/camera_info" lidar_topic: "/bonson/point_cloud"
Dynamic rqt_reconfigure default bounds feature_extraction: x_min: -10.0 x_max: 10.0 y_min: -10.0 y_max: 10.0 z_min: -10.0 z_max: 10.0
Properties of chessboard calibration target chessboard: pattern_size: height: 11 width: 8
square_length: 35 board_dimension: width: 500 height: 380 translation_error: x: 2 y: 0
—————— distortion_model: "fisheye" width: 1920 height: 1080 D: [-0.958013458, -28.3233961, 0.0736144326, -0.0146417112, 505.177751] K: [1012.71567, 0.0, 316.010119, 0.0, 1047.60412, 178.325968, 0.0, 0.0, 1.0]