Calibration result is not accurate!

[topcomma]

Hi Ankidhall,

Firstly thanks for your great work.

I have tried to use the function to calibrated my lidar and camera on car, Velodyne VLP16 LiDAR on car and camera is the front camera on the underground garage. I manually measured the correspdondence between camera and lidar is about xyz(0.05,0.37,0.9) and unit is meter.

But now I tried many times using your code, the result is not very well.

Number of points: 8 1.66108 0.0107726 0.0114646 -0.24578 0.51019 -0.00319998 -0.050756 0.0132938 -2.61004e-05 Rotation matrix: 0.992472 0.117913 0.0331166 -0.116926 0.992678 -0.0303074 -0.0364477 0.026207 0.998992 Rotation in Euler angles: 173.294 177.924 -178.51 Translation: -0.0688622 -0.376567 -0.656073 RMSE: 0.0574024 Rigid-body transformation: 0.992472 0.117913 0.0331166 -0.0688622 -0.116926 0.992678 -0.0303074 -0.376567 -0.0364477 0.026207 0.998992 -0.656073 0 0 0 1

After 100 iterations

Average translation is: -0.0570178 -0.350666 -0.660128 Average rotation is: 0.992761 0.116792 0.028013 -0.115593 0.992443 -0.0411774 -0.0326105 0.0376412 0.998759 Average transformation is: 0.992761 0.116792 0.028013 -0.0570178 -0.115593 0.992443 -0.0411774 -0.350666 -0.0326105 0.0376412 0.998759 -0.660128 0 0 0 1 Final rotation is: 0.0288035 -0.992645 -0.117583 -0.0412694 0.11635 -0.99235 0.998733 0.0334358 -0.0376146 Final ypr is: 2.18014 -1.62114 -0.726651 Average RMSE is: 0.0644712 RMSE on average transformation is: 0.0578473

I have attached the config files, please help me out .

Thanks in advance.

config_file.txt

marker_coordinates.txt

gmsl_camera.txt Xingui

[topcomma]

I do not know how to more conveniently upload the corresponding ROS bag.

[xinwf]

Your camera's parameter is wrong, height is 1280, not 1208.