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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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Error while caliberating os1 64 #6

Closed islamtalha01 closed 2 years ago

islamtalha01 commented 2 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. Screenshot from 2021-09-30 04-37-01 Screenshot from 2021-09-30 04-44-20

darrenjkt commented 2 years ago

The issue here is that RANSAC is not able to find your chessboard. In the readme section 2.3.2 "Isolate the chessboard" I showed examples where the chessboard has to be the only visible object in the point cloud. The reason being that this tool has no "smart" identification of where the board is. You have to manually isolate the board. RANSAC will then take the left-most and right-most values of the entire isolated point cloud to estimate the board edges. If there is a lot of noise like 2.3.2 left image or your screenshot, then it'll give the error you are seeing there. I've pasted the image from 2.3.2 below for convenience. Left is non-filtered point cloud, right is isolated board in the point cloud.

image

The board also has to be tilted as shown in the right image where it is tilted to look like a diamond. This is so that all the edges of the board can be captured. See Figure 2 in this paper to understand why we need to tilt the board. We recommend using some sort of mounting solution to suspend the board in the air at a 45 degree tilt so that the point cloud captures nothing else but the board.

islamtalha01 commented 2 years ago

Let me try these things.

islamtalha01 commented 2 years ago

I am running the two drivers of both lidar and camera. But when I start to launch the lidar cam calibration command. It is giving me an error and feature extraction dies just after launch. I am attaching the screenshot. i am trying to do live calibration.

Screenshot from 2021-09-30 12-22-57 Screenshot from 2021-09-30 12-26-51 Screenshot from 2021-09-30 12-27-02

shreyashpalande commented 2 years ago

@islamtalha01 Check this comment. This might be the same reason it is not able to fine ring field in the data.

islamtalha01 commented 2 years ago

Thanks, I'll check it out.

On Tue, Oct 5, 2021 at 9:46 PM Shreyash Palande @.***> wrote:

@islamtalha01 https://github.com/islamtalha01 Check this comment https://github.com/acfr/cam_lidar_calibration/issues/2#issuecomment-934577598. This might be the same reason for you.

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