The chessboard has been filtered success. But the RANSAC unsuccessful occurs if i click capture sample

[gzchenjiajun]

One is before the filter and the other is after the filter, which has been placed at 45°

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]

[gzchenjiajun]

still RANSAC unsuccessful

[gzchenjiajun]

Is the data from my lidar not compatible with this calibration repo?

[chinitaberrio]

@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.

[GodLiu1]

May I ask how you filtered the point cloud? I adjusted rqt_reconfigure, but the point cloud did not change

[chinitaberrio]

@GodLiu1, please refer to this thread.

[jclinton830]

@GodLiu1 I am closing this due to inactivity. Feel free to open it again if you still have issues.