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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
543 stars 119 forks source link

Unsuccessful optimization when running UPnPRANSAC #7

Open younesidsouguou opened 4 years ago

younesidsouguou commented 4 years ago

Hello,

When I pick at least 5 points in both lidar and camera of plane object I get the result but with "unsuccessful" flag. What might cause this ?

Thanks.

heethesh commented 4 years ago

You may try other solver methods as shown here (accordingly update the minimum number of points in this assert statement based on the method). Try increasing reprojectionError or iterationsCount. Make sure you have the correct camera calibration data published on the camera_info topic, else the re-projection error might be high.