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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
528 stars 117 forks source link

Os1 and usb camera caliberation. #38

Open islamtalha01 opened 2 years ago

islamtalha01 commented 2 years ago

I am trying to calibrate os1 64 and USB camera. I got camera intrinsic parameter and saved in .yaml file. I also make global variable Ouster_LIdar = true in lidar_camera.py file. My bag file contains following topics:

types: sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /os_cloud_node/points 198 msgs : sensor_msgs/PointCloud2 /usb_cam/camera_info 395 msgs : sensor_msgs/CameraInfo /usb_cam/image_raw 395 msgs : sensor_msgs/Image Now when i am trying to open calibrate my bag file data and launch (rosrun lidar_camera_calibration calibrate_camera_lidar.py --calibrate). i got no gui open and following text is displayed in terminal

Press [ENTER] to pause and pick points

[INFO] [1631096057.405016]: Current PID: [24905] [INFO] [1631096057.406628]: Projection mode: False [INFO] [1631096057.407893]: CameraInfo topic: /sensors/camera/camera_info [INFO] [1631096057.408982]: Image topic: /sensors/camera/image_color [INFO] [1631096057.410029]: PointCloud2 topic: /sensors/velodyne_points [INFO] [1631096057.410994]: Output topic: None

. so kindly tell me where I am making mistake kindly help me out. kindly tell me step by step procedure if anyone has used this package with ouster. i am also attaching pics. Screenshot from 2021-09-08 15-34-02 Screenshot from 2021-09-06 13-10-36

SunilSrivatsav9 commented 1 year ago

@islamtalha01 Can you let me know the process of collecting rosbag with desired topic names. I have collected rosbag and checked for info. It looks different.

path: 2022-10-21-16-15-43_OS-0-64-992109000218-1024x20.bag version: 2.0 duration: 20.7s start: Oct 21 2022 16:15:48.36 (1666336548.36) end: Oct 21 2022 16:16:09.04 (1666336569.04) size: 320.3 MB messages: 28549 compression: none [421/421 chunks] types: ouster_ros/PacketMsg [4f7b5949e76f86d01e96b0e33ba9b5e3] topics: /os_node/imu_packets 2069 msgs : ouster_ros/PacketMsg /os_node/lidar_packets 26480 msgs : ouster_ros/PacketMsg