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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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how to make 100 iterations? #52

Closed OYZJ closed 5 years ago

OYZJ commented 6 years ago

Hi ankitdhall, May I ask how can I modify your code to run 100 iterations? I met very poor result with only one iteration. And according to your paper it seem the accuracy can be improved a lot by increase the iteration numbers. Thanks in advance.

blutjens commented 6 years ago

Change the penultimate line in conf/config_file.txt from "1" to "100". The default parameter is 100, however. Your issue might be caused by something else.

OYZJ commented 6 years ago

Hello blutjens, Thanks for your help. But the problem is I can't see how this program can reach 100 iteration. I have read through the all the code in src and include. And from the Find_RT.h it seems the iter will never reach to the max_iters without modification.

karnikram commented 6 years ago

The code does by default run for 100 iterations. The check is done here.

Something else is going wrong for you.

ahandsomeperson commented 6 years ago

hi, I met the same issue.The parameter in the conf/config_file.txt is 100. screenshot from 2018-06-26 11-31-54 but still only one iteration. screenshot from 2018-06-26 11-31-32 how can i get it worked on 100 iterations?

sssoubl commented 5 years ago

repeat "rosbag play --clock ***.bag"!