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heethesh / lidar_camera_calibration

Light-weight camera LiDAR calibration package for ROS using OpenCV and PCL (PnP + LM optimization)
BSD 3-Clause "New" or "Revised" License
536 stars 118 forks source link

Error Metrics #10

Open gcarlin8 opened 4 years ago

gcarlin8 commented 4 years ago

Hello heethesh,

Is there anyway to get the information about the point error/pixel error or any other error metrics

heethesh commented 4 years ago

Since you manually pick 3D/2D correspondences here, you can re-project the picked 3D points to the image after you have the extrinsics estimate and compute the pixel error with the 2D points you initially picked. Also have a look at OpenCV's PnP methods documentation which lets you set the inlier count, reprojection error thresholds, confidence, and other optimization criteria.

heethesh commented 3 years ago

See my comment here