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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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Can't filter point cloud with rqt #63

Open EMIR-Mh01 opened 1 month ago

EMIR-Mh01 commented 1 month ago

Screenshot from 2024-07-19 02-26-46 i work with velodyne as lidar and an optical camera and i want the topic of features_extraction to appear in rviz but the only points that appear are velodyne_points i want the calibration with my own data . I have changed the params.yaml and camera_info.yaml according to my dataset. distortion_model: "plumb_bob" width: 1280 height: 720 D: [0.137822,0.35667,-0.035565,0.006467] K: [975.093708 , 0, 649.525527 ,0. , 980.29991878, 310.223634,0. 0. 1. ]]

Topics

camera_topic: "/rtsp_stream" camera_info: "/camera_info" lidar_topic: "/velodyne_points"

Dynamic rqt_reconfigure default bounds

feature_extraction: x_min: 3.0 x_max: 7.0 y_min: -3.0 y_max: 3.0 z_min: -1.7 z_max: 0.0 k: 50 z: 1 voxel_res: 0.4

Properties of chessboard calibration target

chessboard: pattern_size: height: 7 width: 5 square_length: 70 board_dimension: width: 45.7 height: 58.7 translation_error: x: 2 y: 2 I am currently trying your v2 package as well. Still the dynamic rqt window can't apply to my data. I can't see the pointcloud data change after I apply the filter. Do I suppose to wait longer? Btw, I made to few changes to let the package compile with my ROS Noetic version.

zayedrmdn commented 1 month ago

Has this issue been solved? @EMIR-Mh01