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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
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Does not work when using 64-channel LiDAR #12

Closed JihunDev closed 4 years ago

JihunDev commented 4 years ago

Description of the situation

I am using Ouster OS1 64-Channel Lidar. I am trying to calibration to my USB camera and Lidar. However, it outputs as below

Picture1

Question

I have 2 questions.

  1. Does this code work on Velodyne devices?
  2. Does it work only on 16 channels?

Development environment

Resources

Ouster OS-1

heethesh commented 4 years ago

Number of beams/sensors should not matter as long as the message format is PointCloud2. Just remove c=cmap(colors) on line 256 and try running it again. Also can you check the size of points wtihin extract_points_3D?

saran1995 commented 4 years ago

Hey @JihunDev my situtaiton is similar to yours: 1) We are using Ouster OS1 64-Channel Lidar and we are trying to calibrate usb camera and Lidar.

Once we run the command for calibration the gui doesn't not opens up, basically its stuck on rospy.spin Screenshot from 2020-10-23 15-34-51

Development Environment

Please guide how did you solved this issue.

heethesh commented 4 years ago

@saran1995 also see #16 (comment)