My camera and lidar are placed as follow:
But I get the this calibration result.
`After 100 iterations
Average translation is:
0.095076
-0.649966
0.048822
Average rotation is:
0.993107 -0.0859981 0.079641
0.0558907 0.944694 0.323156
-0.103027 -0.316477 0.942989
Average transformation is:
0.993107 -0.0859981 0.079641 0.095076
0.0558907 0.944694 0.323156 -0.649966
-0.103027 -0.316477 0.942989 0.048822
0 0 0 1
Final rotation is:
0.0804318 -0.993111 0.0852074
0.3232 -0.0548811 -0.944738
0.942906 0.103526 0.31656
Final ypr is:
1.32689
-1.23125
0.316071
Average RMSE is: 0.0731869
RMSE on average transformation is: 0.0755466`
The rotation seems right, but the translation is wrong obviously. The translation between camera and lidar can't be big as 0.65m definitely. What is wrong with my usage. I edit the config_file.txt, maker_coordinates.txt in lidar_camera_calibration and zed_left_uurmi.ini, aruco_mapping.lanch in aruco_mapping. These are my configure files.
karnikram
commented
6 years ago
My camera and lidar are placed as follow:
But I get the this calibration result.
`After 100 iterations
Average translation is: 0.095076 -0.649966 0.048822 Average rotation is: 0.993107 -0.0859981 0.079641 0.0558907 0.944694 0.323156 -0.103027 -0.316477 0.942989 Average transformation is: 0.993107 -0.0859981 0.079641 0.095076 0.0558907 0.944694 0.323156 -0.649966 -0.103027 -0.316477 0.942989 0.048822 0 0 0 1 Final rotation is: 0.0804318 -0.993111 0.0852074 0.3232 -0.0548811 -0.944738 0.942906 0.103526 0.31656 Final ypr is: 1.32689 -1.23125 0.316071 Average RMSE is: 0.0731869 RMSE on average transformation is: 0.0755466`
The rotation seems right, but the translation is wrong obviously. The translation between camera and lidar can't be big as 0.65m definitely. What is wrong with my usage. I edit the config_file.txt, maker_coordinates.txt in lidar_camera_calibration and zed_left_uurmi.ini, aruco_mapping.lanch in aruco_mapping. These are my configure files.
config_file.txt marker_coordinates.txt zed_left_uurmi.txt aruco_mapping.txt
I'll be thankful to for any suggestion to correct my calibration.