KITTI DATASET(left_camera and VLP64E)

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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KITTI DATASET(left_camera and VLP64E) #28

Closed enting8696 closed 3 years ago

enting8696 commented 3 years ago

Thanks to the author for providing great code ！ I tried to use the kitti dataset (left_camera and VLP64E) . May I ask why I changed the topic to /kitti/camera_gray_left/image_raw And run roslaunch lidar_camera_calibration display_camera_lidar_calibration.launch Screenshot from 2021-02-02 14-39-53 The result of the image does not cover the entire window ? it feels crooked. Does this algorithm apply to the left camera?

The display in rviz is normal Screenshot from 2021-02-02 14-47-05

heethesh commented 3 years ago

Make sure to set the field of view of the point cloud while projecting it. See the README for more details. Also make sure to use correct intrinsic/extrinsic parameters between the left camera and the LiDAR from the KITTI dataset during visualization. This script loads the camera projection matrix from the camera_info topic.

enting8696 commented 3 years ago

Thank you for your intentions and replies, thank you, and wish you success in your research