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koide3 / direct_visual_lidar_calibration

A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]
https://koide3.github.io/direct_visual_lidar_calibration/
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Disable translation estimation when calibration #86

Open ClementLeBihan opened 2 weeks ago

ClementLeBihan commented 2 weeks ago

Is your feature request related to a problem? Please describe. The final camera_lidar translation is wrong, but the projection is pretty correct. As I already know (+- 5cm) the position of the camera, I would love to do a first step of optimization computing only rotations. And when we reach the best estimation, start from this to refine the translations+rotations. I hope it will decrease the translation error.

Describe the solution you'd like I would love to know how to force the optimizer to don't optimize translations. Only rotations.

koide3 commented 2 weeks ago

I should be possible by adding a factor that constraints the translation components around the initial position at the following optimization part.

https://github.com/koide3/direct_visual_lidar_calibration/blob/8a03c738573b2ec0148d8ee39709ac3948ed7608/src/vlcal/calib/visual_camera_calibration.cpp#L216