Huge translations, out of reality/issues with point collection.

ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

http://arxiv.org/abs/1705.09785

GNU General Public License v3.0

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Huge translations, out of reality/issues with point collection. #134

Open Mikor-mkr opened 3 years ago

Mikor-mkr commented 3 years ago

Hi everyone, I have some issues with the point collection and the results are bad.

I get results like these: Rotation in Euler angles: 168.026 101.679 66.3122 Translation: 78.1923 19.4535 175.848 RMSE: 420.258

Which are clearly wrong. Although I have some issues with point picking as well. Sometimes I can pick lines and sometimes it says to move to the next object. Any ideas?

miriamrebekah commented 3 years ago

@Mikor-mkr , did you have issues with the aruco mapping? I have had issues with the the point picking windows only showing up sometimes.

Mikor-mkr commented 3 years ago

hello @miriamrebekah, I think aruco mapping works well, correct me if I'm wrong but this node is only using the rgb topic. The issue with the point picking procedure is that sometimes when I pick a line the node returns to move to the next object as I marked the whole target (when in reality I've only marked one side of it).