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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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Why can I detect the edges of two rectangular board, but the 'polygon' window still in invalid state? #29

Closed PanZhichen closed 6 years ago

PanZhichen commented 6 years ago

I am also stuck at constantly refreshing the TF of two markers . I can see points in "cloud" window, but the "polygon" window displayed nothing. I paste my log information below, and looking foreword to any reply, thanks!

2017-12-21 14_44_13____________ `SUMMARY

PARAMETERS

NODES / aruco_mapping (aruco_mapping/aruco_mapping) find_transform (lidar_camera_calibration/find_transform)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[aruco_mapping-1]: started with pid [9424] process[find_transform-2]: started with pid [9425] [ INFO] [1513839635.890962802]: Calibration file path: /home/molmc-chy/velodyne_ws/src/aruco_mapping/data/ptgrey.ini [ INFO] [1513839635.891108217]: Number of markers: 2 [ INFO] [1513839635.891158264]: Marker Size: 0.18 [ INFO] [1513839635.891188261]: Type of space: plane [ INFO] [1513839635.891222934]: ROI allowed: 0 [ INFO] [1513839635.891251538]: ROI x-coor: 0 [ INFO] [1513839635.891282672]: ROI y-coor: 0 [ INFO] [1513839635.891312241]: ROI width: 32665 [ INFO] [1513839635.891342511]: ROI height: 4272766 [ INFO] [1513839635.893254134]: Calibration data loaded successfully Size of the frame: 752 x 480 Limits: -1 to 1.5 Limits: -1 to 1 Limits: 0 to 2.3 Number of markers: 2 Intensity threshold (between 0.0 and 1.0): 0.0004 useCameraInfo: 0 Projection matrix: [722.22699, 0, 396.83157, 0; 0, 724.25177, 245.65433, 0; 0, 0, 1, 0] MAX_ITERS: 100 [ INFO] [1513839635.928687068]: Reading CameraInfo from configuration file 66=(136.628,271.375) (100.5,319.508) (49.3703,284.37) (86.3264,235.886) Txyz=-0.91036 0.0955786 2.16889 Rxyz=-0.441642 1.79648 -1.78922 77=(403.858,266.719) (359.723,305.623) (320.718,261.157) (365.832,222.415) Txyz=-0.104221 0.0555665 2.22151 Rxyz=-0.630651 1.64157 -1.6905 [ INFO] [1513839636.272981332]: First marker with ID: 66 detected [ WARN] [1513839636.277726860]: TF to MSG: Quaternion Not Properly Normalized 66=(136.723,271.402) (100.399,319.546) (49.3407,284.313) (86.2181,235.797) Txyz=-0.908639 0.0953415 2.1645 Rxyz=-0.44495 1.80124 -1.78419 77=(403.909,266.643) (359.656,305.696) (320.753,261.148) (365.746,222.378) Txyz=-0.104228 0.0554753 2.22053 Rxyz=-0.634499 1.63693 -1.6988 [ INFO] [1513839636.387703679]: Velodyne scan received at 1.51384e+09 [ INFO] [1513839636.387768020]: marker_6dof received at 1.51384e+09

Initial Rot 0.000796274 -0.999999 -0.000796274 0 0.000796274 -1 1 0.000796274 6.34053e-07 66 -0.91036 0.0955786 2.16889 -0.441642 1.79648 -1.78922 77 -0.104221 0.0555665 2.22151 -0.630651 1.64157 -1.6905 [ INFO] [1513839636.391943552]: iteration number: 0

---------Moving on to next marker-------- 66=(136.766,271.302) (100.316,319.534) (49.3688,284.327) (86.2015,235.876) Txyz=-0.909787 0.0954205 2.16722 Rxyz=-0.441765 1.79419 -1.79198 77=(403.852,266.67) (359.709,305.584) (320.792,261.157) (365.715,222.271) Txyz=-0.104259 0.0553625 2.22151 Rxyz=-0.630496 1.63518 -1.69853 66=(136.598,271.351) (100.45,319.472) (49.4021,284.353) (86.3635,235.782) Txyz=-0.910094 0.0953978 2.16819 Rxyz=-0.446826 1.79635 -1.79403 77=(403.905,266.596) (359.696,305.592) (320.723,261.163) (365.805,222.383) Txyz=-0.104179 0.0554385 2.22051 Rxyz=-0.627335 1.64939 -1.6817 66=(136.666,271.409) (100.374,319.469) (49.3761,284.363) (86.2708,235.826) Txyz=-0.910144 0.0954931 2.16811 Rxyz=-0.443119 1.79708 -1.78829 77=(403.794,266.645) (359.525,305.734) (320.872,261.134) (365.687,222.247) Txyz=-0.104203 0.0553382 2.2188 Rxyz=-0.614036 1.61741 -1.70352 66=(136.612,271.359) (100.438,319.458) (49.407,284.363) (86.324,235.876) Txyz=-0.910964 0.0955674 2.17024 Rxyz=-0.442622 1.79515 -1.7918 77=(403.818,266.673) (359.722,305.599) (320.775,261.138) (365.78,222.356) Txyz=-0.104262 0.0554456 2.22226 Rxyz=-0.628077 1.63286 -1.69834 66=(136.723,271.406) (100.434,319.426) (49.4147,284.36) (86.3251,235.868) Txyz=-0.910746 0.0955728 2.16997 Rxyz=-0.438658 1.79505 -1.78661 77=(403.828,266.642) (359.678,305.608) (320.782,261.121) (365.769,222.334) Txyz=-0.104261 0.055387 2.22166 Rxyz=-0.627092 1.6328 -1.69756 66=(136.729,271.341) (100.553,319.447) (49.526,284.382) (86.3537,235.758) Txyz=-0.909343 0.0953369 2.16702 Rxyz=-0.446929 1.80043 -1.7902 77=(403.936,266.628) (359.617,305.587) (320.764,261.054) (365.798,222.433) Txyz=-0.104355 0.0554368 2.22316 Rxyz=-0.644325 1.64833 -1.69197 66=(136.815,271.371) (100.532,319.432) (49.4913,284.398) (86.4279,235.801) Txyz=-0.909968 0.0954647 2.16877 Rxyz=-0.439982 1.79382 -1.79069 77=(403.882,266.616) (359.656,305.628) (320.807,261.104) (365.783,222.364) Txyz=-0.104229 0.0553983 2.22183 Rxyz=-0.63101 1.63568 -1.69703 66=(136.788,271.348) (100.529,319.442) (49.5416,284.419) (86.3848,235.854) Txyz=-0.910355 0.0955456 2.16963 Rxyz=-0.441614 1.795 -1.79218 77=(403.867,266.593) (359.677,305.699) (320.839,261.138) (365.731,222.415) Txyz=-0.104268 0.055483 2.22259 Rxyz=-0.632272 1.628 -1.70697 66=(136.791,271.344) (100.528,319.444) (49.626,284.319) (86.4911,235.815) Txyz=-0.910125 0.0954218 2.16938 Rxyz=-0.447536 1.79623 -1.79413 77=(403.825,266.688) (359.698,305.662) (320.783,261.141) (365.748,222.356) Txyz=-0.104261 0.0554683 2.22167 Rxyz=-0.62955 1.62726 -1.705 `

sangych commented 6 years ago

@PanZhichen I was confused about this issue too, how did you make it up? Thanks a lot

PanZhichen commented 6 years ago

@sangych Each time you pick up a point by left-click, pressing any key on your keyboard will help.

ykk136 commented 3 years ago

Did you use usb cameras, such as PointGrey USB3? Or cameras using Ethernet to transport data? I found that my USB3 camera is not synchonized with Velodyne lidar, so I can't get what I want..