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lardemua / atlascar2

Core packages for the LAR DEMUA Atlas Project
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Odometry calibration in AtlasCar2 #41

Open manuelgitgomes opened 2 years ago

manuelgitgomes commented 2 years ago

First simulation results:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |      0.1937     |   0.0049  |      0.2443      |
|    001     |      0.1867     |   0.0048  |      0.2047      |
|    002     |      0.1830     |   0.0046  |      0.1886      |
|    003     |      0.1804     |   0.0053  |      0.2124      |
|    004     |      0.1636     |   0.0050  |      0.1600      |
|    005     |      0.2486     |   0.0050  |      0.1581      |
|    006     |      0.2326     |   0.0046  |      0.1627      |
|    007     |      0.4148     |   0.0046  |      0.4296      |
|    008     |      0.4355     |   0.0046  |      0.3074      |
|    009     |      0.2729     |   0.0048  |       ---        |
|    010     |      0.4206     |   0.0045  |       ---        |
|    011     |       ---       |   0.0051  |      0.3825      |
|    012     |      0.1768     |   0.0046  |      0.1442      |
|    013     |      0.1360     |   0.0048  |      0.1578      |
|    014     |      0.1846     |   0.0046  |      0.1794      |
|    015     |      0.2026     |   0.0047  |      0.1597      |
|    016     |      0.1971     |   0.0043  |      0.1565      |
|    018     |      0.3541     |   0.0045  |      0.3532      |
|    019     |      0.3739     |   0.0047  |      0.2982      |
|    020     |      0.2562     |   0.0053  |      0.2839      |
|    021     |      0.3813     |   0.0051  |      0.3338      |
|    022     |      0.3376     |   0.0068  |      0.3398      |
|    023     |      0.2949     |   0.0048  |      0.4139      |
|    024     |      0.1978     |   0.0046  |      0.2292      |
|    025     |      0.1515     |   0.0044  |      0.1600      |
|    026     |      0.2358     |   0.0047  |      0.1996      |
|    027     |      0.4020     |   0.0046  |      0.3835      |
|    028     |      0.3408     |   0.0063  |      0.3797      |
|    029     |      0.2387     |   0.0046  |      0.2831      |
|    030     |      0.2175     |   0.0049  |       ---        |
|    031     |      0.2749     |   0.0055  |      0.3365      |
|    032     |      0.4193     |   0.0045  |       ---        |
|    033     |       ---       |   0.0059  |      0.2543      |
|    034     |       ---       |   0.0051  |      0.2650      |
|    035     |      0.3110     |   0.0059  |      0.2568      |
|    036     |      0.4029     |   0.0048  |      0.2867      |
|    037     |      0.3256     |   0.0044  |      0.4132      |
|    038     |      0.3970     |   0.0050  |      0.4199      |
|    039     |      0.4199     |   0.0044  |      0.3728      |
|    040     |      0.3100     |   0.0048  |      0.3628      |
|    041     |      0.2439     |   0.0048  |      0.2869      |
|    042     |      0.3175     |   0.0046  |      0.2787      |
|    043     |      0.2088     |   0.0045  |      0.2980      |
|    044     |      0.2854     |   0.0043  |      0.2545      |
|    045     |      0.2989     |   0.0042  |      0.2389      |
|    046     |      0.2206     |   0.0040  |       ---        |
|    047     |      0.3158     |   0.0046  |      0.4558      |
|    048     |      0.2730     |   0.0044  |      0.4310      |
|    049     |      0.4202     |   0.0044  |       ---        |
|    050     |      0.3532     |   0.0044  |      0.3497      |
|    051     |      0.4291     |   0.0041  |      0.5014      |
|    052     |      0.4611     |   0.0041  |      0.6177      |
|    053     |      0.5453     |   0.0034  |       ---        |
|  Averages  |      0.2969     |   0.0048  |      0.2954      |
+------------+-----------------+-----------+------------------+

With -nig 0.1 0,1:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |      0.4363     |   0.0050  |      0.3862      |
|    001     |      0.4111     |   0.0048  |      0.3161      |
|    002     |      0.3127     |   0.0045  |      0.4280      |
|    003     |      0.9373     |   0.0054  |      1.1045      |
|    004     |      0.4321     |   0.0049  |      0.5989      |
|    005     |      0.3766     |   0.0049  |      0.3463      |
|    006     |      0.4978     |   0.0046  |      0.2823      |
|    007     |      0.5491     |   0.0047  |      0.5604      |
|    008     |      0.7537     |   0.0047  |      0.8065      |
|    009     |      0.8373     |   0.0049  |       ---        |
|    010     |      0.7970     |   0.0045  |       ---        |
|    011     |       ---       |   0.0052  |      0.4355      |
|    012     |      0.5426     |   0.0045  |      0.3056      |
|    013     |      0.3312     |   0.0048  |      0.2923      |
|    014     |      0.5595     |   0.0046  |      0.9921      |
|    015     |      0.3825     |   0.0047  |      0.4300      |
|    016     |      0.5029     |   0.0043  |      0.2730      |
|    018     |      0.6044     |   0.0046  |      0.4953      |
|    019     |      0.7116     |   0.0047  |      0.7428      |
|    020     |      0.9058     |   0.0053  |      0.9257      |
|    021     |      0.5208     |   0.0052  |      0.4836      |
|    022     |      0.4189     |   0.0067  |      0.6346      |
|    023     |      0.4747     |   0.0047  |      0.7903      |
|    024     |      0.4222     |   0.0046  |      0.7169      |
|    025     |      0.3550     |   0.0044  |      0.4545      |
|    026     |      0.4773     |   0.0048  |      0.3247      |
|    027     |      0.5258     |   0.0047  |      0.5350      |
|    028     |      0.4568     |   0.0062  |      0.6265      |
|    029     |      0.5782     |   0.0047  |      0.8493      |
|    030     |      1.0759     |   0.0050  |       ---        |
|    031     |      0.6776     |   0.0055  |      0.8193      |
|    032     |      0.7411     |   0.0044  |       ---        |
|    033     |       ---       |   0.0059  |      0.7030      |
|    034     |       ---       |   0.0050  |      0.9026      |
|    035     |      0.7889     |   0.0057  |      0.9841      |
|    036     |      0.7709     |   0.0048  |      0.7470      |
|    037     |      0.4891     |   0.0045  |      0.5267      |
|    038     |      0.5403     |   0.0049  |      0.5371      |
|    039     |      0.5375     |   0.0045  |      0.7909      |
|    040     |      0.6777     |   0.0048  |      1.0525      |
|    041     |      0.5495     |   0.0047  |      0.9792      |
|    042     |      0.6601     |   0.0046  |      1.0213      |
|    043     |      0.3932     |   0.0046  |      0.4955      |
|    044     |      0.5816     |   0.0043  |      0.3772      |
|    045     |      0.9315     |   0.0042  |      0.9141      |
|    046     |      1.2848     |   0.0041  |       ---        |
|    047     |      0.8885     |   0.0048  |      1.1998      |
|    048     |      0.7325     |   0.0045  |      1.0426      |
|    049     |      0.5398     |   0.0044  |       ---        |
|    050     |      0.4731     |   0.0044  |      0.5302      |
|    051     |      0.6480     |   0.0041  |      0.5870      |
|    052     |      0.5454     |   0.0041  |      0.9513      |
|    053     |      0.5795     |   0.0033  |       ---        |
|  Averages  |      0.6044     |   0.0048  |      0.6587      |
+------------+-----------------+-----------+------------------+

And here's a video!

manuelgitgomes commented 2 years ago

First results on real hardware:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |     275.0286    |   0.3454  |     177.7730     |
|    001     |     333.0045    |   0.3159  |     199.8795     |
|    002     |     363.7517    |   0.2563  |     239.0002     |
|    003     |     384.0973    |   0.2566  |     252.7828     |
|    004     |     395.3886    |   0.2917  |     263.8111     |
|    005     |     393.5925    |   0.3695  |     262.2293     |
|    006     |     356.9781    |   0.3003  |     231.1520     |
|    007     |     352.8178    |   0.2950  |     232.3646     |
|    008     |     238.8357    |   0.2559  |     121.0968     |
|    009     |     213.3660    |   0.2372  |     110.0644     |
|    010     |     139.1251    |   0.2238  |     80.7780      |
|    011     |     122.5844    |   0.2422  |     72.5813      |
|    012     |     107.9010    |   0.2523  |     71.6254      |
|    013     |     103.2804    |   0.2991  |     74.4152      |
|    014     |     96.0445     |   0.3032  |     72.8355      |
|    015     |     123.6971    |   0.2780  |     116.7451     |
|    016     |     129.1970    |   0.2431  |     117.6668     |
|    017     |     159.7414    |   0.2715  |     159.3751     |
|    018     |     178.6341    |   0.2248  |     168.8682     |
|    019     |     163.1489    |   0.2710  |     170.2330     |
|    027     |     295.9190    |   0.2751  |     256.3590     |
|    028     |     356.2458    |   0.2485  |     265.3659     |
|    029     |     376.8839    |   0.2466  |       ---        |
|    030     |     384.6001    |   0.2702  |       ---        |
|    031     |     374.7438    |   0.2627  |     252.9367     |
|    032     |     361.5130    |   0.3008  |     239.3440     |
|    033     |     344.7455    |   0.3648  |     221.8493     |
|    034     |     152.5143    |   0.2551  |     129.7780     |
|    035     |     91.4019     |   0.2898  |     83.9149      |
|    036     |     73.0214     |   0.3027  |     95.4866      |
|    037     |     87.9674     |   0.2864  |     66.2072      |
|    038     |     136.8541    |   0.2543  |     73.3636      |
|  Averages  |     239.5820    |   0.2778  |     162.6627     |
+------------+-----------------+-----------+------------------+

The results are weak. This might be due to various factors, one of them being the lack of odometry calibration. Another big factor is the inability of setting an initial estimate. I believe his is due to the camera info being filled with 0s, because the following error appears in RViz: image Do you have any idea on why this might be? @miguelriemoliveira

miguelriemoliveira commented 2 years ago

Hi @manuelgitgomes ,

yes results are weak. I would say you may include them anyway pointing the the reasons you think are contributing to the fact.

About the camera, probably the camera drivers are not working well. Post the result of command

rostopic echo <camera info msg>

when running your bagfile.

manuelgitgomes commented 2 years ago

Post the result of command

header: 
  seq: 1903
  stamp: 
    secs: 1654540990
    nsecs: 653568987
  frame_id: "top_left_camera_optical"
height: 0
width: 0
distortion_model: ''
D: []
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 1
binning_y: 1
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: True
miguelriemoliveira commented 2 years ago

So the camera is not calibrated, and for that reason the camera info message is not being published.

We need to run a monocular camera calibration

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

in order to have the cameras calibrated.

@Sarxell , this is something we should have done, but I forgot to tell you.

Please add it to your future work in the thesis.

manuelgitgomes commented 2 years ago

Should I do this too or should I add to the future work as well?

miguelriemoliveira commented 2 years ago

Right now I would say finish writting with what you got. Then we'll see if we have time.

manuelgitgomes commented 2 years ago

Ok sure. Thank you!

Sarxell commented 2 years ago

Hi @miguelriemoliveira, I will add it!

manuelgitgomes commented 2 years ago

Results:

Simulation anchored:

Calibration:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |      0.4118     |   0.0056  |      0.5720      |
|    001     |      0.3562     |   0.0054  |      0.5021      |
|    002     |      0.3291     |   0.0052  |      0.4333      |
|    003     |      1.1187     |   0.0059  |      1.4422      |
|    004     |      0.6081     |   0.0068  |      0.8742      |
|    005     |      0.3277     |   0.0064  |      0.3644      |
|    006     |      0.3918     |   0.0065  |      0.4160      |
|    007     |      0.5017     |   0.0064  |      0.5390      |
|    008     |      0.8339     |   0.0070  |      1.0468      |
|    009     |      1.2401     |   0.0068  |       ---        |
|    010     |      0.8000     |   0.0068  |       ---        |
|    011     |       ---       |   0.0072  |      0.5112      |
|    012     |      0.4555     |   0.0062  |      0.5354      |
|    013     |      0.2571     |   0.0072  |      0.3850      |
|    014     |      0.9410     |   0.0071  |      1.1213      |
|    015     |      0.3735     |   0.0067  |      0.3941      |
|    016     |      0.4463     |   0.0065  |      0.5579      |
|    018     |      0.4515     |   0.0066  |      0.4497      |
|    019     |      0.6007     |   0.0070  |      0.7834      |
|    020     |      1.0534     |   0.0071  |      1.0414      |
|    021     |      0.4530     |   0.0072  |      0.4697      |
|    022     |      0.4671     |   0.0069  |      0.5971      |
|    023     |      0.6215     |   0.0067  |      0.8422      |
|    024     |      0.5932     |   0.0069  |      0.7061      |
|    025     |      0.3196     |   0.0065  |      0.3650      |
|    026     |      0.4232     |   0.0065  |      0.6079      |
|    027     |      0.4859     |   0.0064  |      0.5184      |
|    028     |      0.4446     |   0.0070  |      0.5558      |
|    029     |      0.8348     |   0.0068  |      1.1149      |
|    030     |      1.8210     |   0.0070  |       ---        |
|    031     |      0.7901     |   0.0065  |      0.7719      |
|    032     |      0.9086     |   0.0063  |       ---        |
|    033     |       ---       |   0.0071  |      0.5773      |
|    034     |       ---       |   0.0065  |      1.0203      |
|    035     |      1.0788     |   0.0064  |      1.2103      |
|    036     |      0.8420     |   0.0065  |      0.6544      |
|    037     |      0.4252     |   0.0062  |      0.5215      |
|    038     |      0.4971     |   0.0065  |      0.5015      |
|    039     |      0.6584     |   0.0064  |      0.7675      |
|    040     |      0.9038     |   0.0059  |      1.2491      |
|    041     |      0.8973     |   0.0061  |      1.0768      |
|    042     |      0.9952     |   0.0058  |      0.8750      |
|    043     |      0.3295     |   0.0059  |      0.4476      |
|    044     |      0.6239     |   0.0055  |      0.9774      |
|    045     |      1.0308     |   0.0057  |      1.6542      |
|    046     |      1.8966     |   0.0052  |       ---        |
|    047     |      1.2426     |   0.0059  |      1.8163      |
|    048     |      1.0450     |   0.0060  |      1.3082      |
|    049     |      0.5015     |   0.0056  |       ---        |
|    050     |      0.4505     |   0.0060  |      0.4100      |
|    051     |      0.7639     |   0.0053  |      1.2460      |
|    052     |      0.5820     |   0.0050  |      0.7458      |
|    053     |      0.6466     |   0.0044  |       ---        |
|  Averages  |      0.7014     |   0.0063  |      0.7734      |
+------------+-----------------+-----------+------------------+

top_left_camera to top_right_camera:

+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|     000      |   1.3244  |    0.7817   |    0.6034   |  18.6283   |   5.1401  |
|     002      |   1.6019  |    1.1561   |    0.6843   |  38.5390   |   0.6525  |
|     003      |   3.2368  |    2.8075   |    0.6471   |  40.0608   |   2.2658  |
|     005      |   5.5929  |    4.7650   |    1.3496   |  45.4644   |   2.1724  |
|     006      |   6.7402  |    6.0647   |    1.0824   |  46.2867   |   3.2438  |
|     014      |   2.6259  |    2.1591   |    0.5466   |  49.6409   |   3.0605  |
|     015      |   2.2904  |    1.9020   |    0.5942   |  30.0401   |   2.5518  |
|     016      |   1.2386  |    0.7728   |    0.5976   |  34.9654   |   1.5902  |
|     017      |   2.3129  |    1.7420   |    0.6095   |  25.1710   |   4.3049  |
|     018      |   3.4350  |    2.3100   |    1.3983   |  30.2192   |   4.1877  |
|   Averages   |   3.0399  |    2.4461   |    0.8113   |  35.9016   |   2.9170  |
+--------------+-----------+-------------+-------------+------------+-----------+

top_left_camera to top_lidar:

+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
|     000      |   2.5291  |    2.0983   |    0.1897   |
|     001      |   2.8449  |    2.3122   |    0.5073   |
|     002      |   3.3830  |    1.8925   |    0.8922   |
|     003      |   2.8031  |    1.7230   |    1.0497   |
|     004      |   3.5487  |    2.9823   |    0.4983   |
|     005      |   5.7742  |    3.0615   |    1.4168   |
|     006      |   5.5890  |    2.7572   |    1.8957   |
|     009      |   5.2512  |    4.6571   |    0.6230   |
|     010      |   2.9959  |    2.3448   |    0.7975   |
|     011      |   3.2145  |    2.5110   |    0.6028   |
|     012      |   4.0803  |    2.0623   |    2.0375   |
|     014      |   4.5938  |    1.6515   |    2.1934   |
|     015      |   3.8861  |    0.6488   |    2.0814   |
|     016      |   2.2504  |    1.6488   |    0.6007   |
|     017      |   1.2459  |    1.0278   |    0.2478   |
|     018      |   3.8486  |    2.5536   |    0.9997   |
|   Averages   |   3.6149  |    2.2458   |    1.0396   |
+--------------+-----------+-------------+-------------+

top_right_camera to top_lidar:

+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
|     000      |   2.7660  |    2.5611   |    0.3042   |
|     002      |   4.0954  |    2.0510   |    1.1788   |
|     003      |   3.6984  |    2.2732   |    1.3023   |
|     005      |   5.8833  |    2.9898   |    1.6971   |
|     006      |   2.7728  |    2.1626   |    0.3629   |
|     014      |   4.6533  |    1.4584   |    2.3132   |
|     015      |   5.2311  |    1.8507   |    2.4355   |
|     016      |   2.0678  |    1.5841   |    0.2236   |
|     017      |   2.5522  |    2.1189   |    0.6080   |
|     018      |   4.1791  |    2.7245   |    1.3214   |
|   Averages   |   3.7899  |    2.1774   |    1.1747   |
+--------------+-----------+-------------+-------------+

top_left_camera to base_link:

+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
|     000      |  27.1695   |   4.0105  |
|     001      |  27.1695   |   4.0105  |
|     002      |  27.1695   |   4.0105  |
|     003      |  27.1695   |   4.0105  |
|     004      |  27.1695   |   4.0105  |
|     005      |  27.1695   |   4.0105  |
|     006      |  27.1695   |   4.0105  |
|     009      |  27.1695   |   4.0105  |
|     010      |  27.1695   |   4.0105  |
|     011      |  27.1695   |   4.0105  |
|     012      |  27.1695   |   4.0105  |
|     014      |  27.1695   |   4.0105  |
|     015      |  27.1695   |   4.0105  |
|     016      |  27.1695   |   4.0105  |
|     017      |  27.1695   |   4.0105  |
|     018      |  27.1695   |   4.0105  |
|   Averages   |  27.1695   |   4.0105  |
+--------------+------------+-----------+

top_right_camera to base_link:

+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
|     000      |  38.4206   |   4.4965  |
|     001      |  38.4206   |   4.4965  |
|     002      |  38.4206   |   4.4965  |
|     003      |  38.4206   |   4.4965  |
|     004      |  38.4206   |   4.4965  |
|     005      |  38.4206   |   4.4965  |
|     006      |  38.4206   |   4.4965  |
|     009      |  38.4206   |   4.4965  |
|     010      |  38.4206   |   4.4965  |
|     011      |  38.4206   |   4.4965  |
|     012      |  38.4206   |   4.4965  |
|     014      |  38.4206   |   4.4965  |
|     015      |  38.4206   |   4.4965  |
|     016      |  38.4206   |   4.4965  |
|     017      |  38.4206   |   4.4965  |
|     018      |  38.4206   |   4.4965  |
|   Averages   |  38.4206   |   4.4965  |
+--------------+------------+-----------+

top_lidar to base_link:

+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
|     000      |   0.0000   |   0.0000  |
|     001      |   0.0000   |   0.0000  |
|     002      |   0.0000   |   0.0000  |
|     003      |   0.0000   |   0.0000  |
|     004      |   0.0000   |   0.0000  |
|     005      |   0.0000   |   0.0000  |
|     006      |   0.0000   |   0.0000  |
|     009      |   0.0000   |   0.0000  |
|     010      |   0.0000   |   0.0000  |
|     011      |   0.0000   |   0.0000  |
|     012      |   0.0000   |   0.0000  |
|     014      |   0.0000   |   0.0000  |
|     015      |   0.0000   |   0.0000  |
|     016      |   0.0000   |   0.0000  |
|     017      |   0.0000   |   0.0000  |
|     018      |   0.0000   |   0.0000  |
|   Averages   |   0.0000   |   0.0000  |
+--------------+------------+-----------+

Simulation:

Calibration:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |      0.1747     |   0.0048  |      0.2409      |
|    001     |      0.1702     |   0.0046  |      0.2019      |
|    002     |      0.1663     |   0.0045  |      0.2059      |
|    003     |      0.1822     |   0.0051  |      0.3136      |
|    004     |      0.1677     |   0.0063  |      0.2076      |
|    005     |      0.2516     |   0.0059  |      0.1827      |
|    006     |      0.2386     |   0.0060  |      0.1786      |
|    007     |      0.4166     |   0.0058  |      0.4558      |
|    008     |      0.4413     |   0.0063  |      0.3389      |
|    009     |      0.2624     |   0.0062  |       ---        |
|    010     |      0.4157     |   0.0062  |       ---        |
|    011     |       ---       |   0.0067  |      0.3904      |
|    012     |      0.1698     |   0.0058  |      0.1337      |
|    013     |      0.1170     |   0.0067  |      0.1559      |
|    014     |      0.1682     |   0.0066  |      0.2689      |
|    015     |      0.1817     |   0.0063  |      0.1691      |
|    016     |      0.1703     |   0.0061  |      0.1482      |
|    018     |      0.3576     |   0.0061  |      0.3605      |
|    019     |      0.3622     |   0.0064  |      0.2696      |
|    020     |      0.2722     |   0.0065  |      0.2452      |
|    021     |      0.3693     |   0.0066  |      0.3638      |
|    022     |      0.3406     |   0.0064  |      0.3744      |
|    023     |      0.3197     |   0.0062  |      0.4457      |
|    024     |      0.1746     |   0.0065  |      0.2513      |
|    025     |      0.1149     |   0.0061  |      0.1399      |
|    026     |      0.2281     |   0.0061  |      0.2071      |
|    027     |      0.3911     |   0.0059  |      0.3925      |
|    028     |      0.3452     |   0.0064  |      0.4000      |
|    029     |      0.2650     |   0.0062  |      0.3031      |
|    030     |      0.1701     |   0.0064  |       ---        |
|    031     |      0.2559     |   0.0059  |      0.3126      |
|    032     |      0.4030     |   0.0056  |       ---        |
|    033     |       ---       |   0.0067  |      0.2430      |
|    034     |       ---       |   0.0058  |      0.2645      |
|    035     |      0.2938     |   0.0060  |      0.2534      |
|    036     |      0.4097     |   0.0059  |      0.2847      |
|    037     |      0.3250     |   0.0057  |      0.4188      |
|    038     |      0.3958     |   0.0060  |      0.4329      |
|    039     |      0.4352     |   0.0058  |      0.3949      |
|    040     |      0.3403     |   0.0056  |      0.3927      |
|    041     |      0.2512     |   0.0055  |      0.3302      |
|    042     |      0.2283     |   0.0054  |      0.2919      |
|    043     |      0.1434     |   0.0056  |      0.2176      |
|    044     |      0.2337     |   0.0051  |      0.2084      |
|    045     |      0.2614     |   0.0052  |      0.2624      |
|    046     |      0.2406     |   0.0047  |       ---        |
|    047     |      0.3390     |   0.0052  |      0.5405      |
|    048     |      0.2542     |   0.0052  |      0.4372      |
|    049     |      0.4253     |   0.0049  |       ---        |
|    050     |      0.3609     |   0.0053  |      0.3548      |
|    051     |      0.4242     |   0.0047  |      0.5463      |
|    052     |      0.4505     |   0.0043  |      0.5815      |
|    053     |      0.5030     |   0.0036  |       ---        |
|  Averages  |      0.2876     |   0.0058  |      0.3068      |
+------------+-----------------+-----------+------------------+

top_left_camera to top_right_camera:

+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|     000      |   0.2556  |    0.1555   |    0.1182   |   1.9794   |   0.4632  |
|     002      |   0.3957  |    0.2494   |    0.1765   |   3.1672   |   0.0400  |
|     003      |   0.5176  |    0.3861   |    0.1302   |   2.5821   |   0.1747  |
|     005      |   0.9208  |    0.4721   |    0.4350   |   1.5703   |   0.1420  |
|     006      |   0.8880  |    0.8272   |    0.1871   |   2.5806   |   0.1421  |
|     014      |   0.5643  |    0.3938   |    0.2263   |   1.0497   |   0.0839  |
|     015      |   0.5477  |    0.2461   |    0.2552   |   1.4621   |   0.1226  |
|     016      |   0.3644  |    0.2964   |    0.0953   |   1.4866   |   0.0844  |
|     017      |   0.3077  |    0.1965   |    0.1110   |   1.4183   |   0.1789  |
|     018      |   0.3184  |    0.2345   |    0.0852   |   1.2571   |   0.2727  |
|   Averages   |   0.5080  |    0.3458   |    0.1820   |   1.8553   |   0.1705  |
+--------------+-----------+-------------+-------------+------------+-----------+

top_left_camera to top_lidar:

+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
|     000      |   2.5749  |    2.1152   |    0.4102   |
|     001      |   1.8872  |    1.1928   |    0.6328   |
|     002      |   2.6904  |    1.9781   |    0.5289   |
|     003      |   1.7211  |    1.2775   |    0.2802   |
|     004      |   2.3270  |    1.8913   |    0.4353   |
|     005      |   3.8848  |    2.6145   |    0.6849   |
|     006      |   3.2939  |    2.3595   |    0.4635   |
|     009      |   3.3451  |    2.8958   |    0.4040   |
|     010      |   2.0014  |    1.4697   |    0.3808   |
|     011      |   3.1420  |    2.6899   |    0.2473   |
|     012      |   2.9675  |    2.5082   |    0.1762   |
|     014      |   2.5408  |    1.7449   |    0.7751   |
|     015      |   1.6158  |    1.2102   |    0.4231   |
|     016      |   2.6428  |    2.3458   |    0.3759   |
|     017      |   1.8528  |    1.2071   |    0.5871   |
|     018      |   3.2339  |    2.3781   |    1.0322   |
|   Averages   |   2.6076  |    1.9924   |    0.4898   |
+--------------+-----------+-------------+-------------+

top_right_camera to top_lidar:

+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
|     000      |   1.9936  |    1.6824   |    0.4377   |
|     002      |   1.9990  |    1.4739   |    0.3548   |
|     003      |   2.2321  |    1.6763   |    0.4160   |
|     005      |   3.1028  |    2.3127   |    0.9572   |
|     006      |   1.8070  |    1.5182   |    0.2725   |
|     014      |   1.5010  |    1.1028   |    0.2975   |
|     015      |   1.6386  |    1.2685   |    0.4195   |
|     016      |   1.6749  |    1.3092   |    0.3405   |
|     017      |   1.3900  |    1.2137   |    0.2609   |
|     018      |   2.9215  |    2.4190   |    0.6632   |
|   Averages   |   2.0261  |    1.5977   |    0.4420   |
+--------------+-----------+-------------+-------------+

top_left_camera to base_link:

+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
|     000      |  10.4347   |   0.8900  |
|     001      |  10.4347   |   0.8900  |
|     002      |  10.4347   |   0.8900  |
|     003      |  10.4347   |   0.8900  |
|     004      |  10.4347   |   0.8900  |
|     005      |  10.4347   |   0.8900  |
|     006      |  10.4347   |   0.8900  |
|     009      |  10.4347   |   0.8900  |
|     010      |  10.4347   |   0.8900  |
|     011      |  10.4347   |   0.8900  |
|     012      |  10.4347   |   0.8900  |
|     014      |  10.4347   |   0.8900  |
|     015      |  10.4347   |   0.8900  |
|     016      |  10.4347   |   0.8900  |
|     017      |  10.4347   |   0.8900  |
|     018      |  10.4347   |   0.8900  |
|   Averages   |  10.4347   |   0.8900  |
+--------------+------------+-----------+

top_right_camera to base_link:

+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
|     000      |  10.2985   |   1.3331  |
|     001      |  10.2985   |   1.3331  |
|     002      |  10.2985   |   1.3331  |
|     003      |  10.2985   |   1.3331  |
|     004      |  10.2985   |   1.3331  |
|     005      |  10.2985   |   1.3331  |
|     006      |  10.2985   |   1.3331  |
|     009      |  10.2985   |   1.3331  |
|     010      |  10.2985   |   1.3331  |
|     011      |  10.2985   |   1.3331  |
|     012      |  10.2985   |   1.3331  |
|     014      |  10.2985   |   1.3331  |
|     015      |  10.2985   |   1.3331  |
|     016      |  10.2985   |   1.3331  |
|     017      |  10.2985   |   1.3331  |
|     018      |  10.2985   |   1.3331  |
|   Averages   |  10.2985   |   1.3331  |
+--------------+------------+-----------+

top_lidar to base_link:

+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
|     000      |   6.1498   |   0.0876  |
|     001      |   6.1498   |   0.0876  |
|     002      |   6.1498   |   0.0876  |
|     003      |   6.1498   |   0.0876  |
|     004      |   6.1498   |   0.0876  |
|     005      |   6.1498   |   0.0876  |
|     006      |   6.1498   |   0.0876  |
|     009      |   6.1498   |   0.0876  |
|     010      |   6.1498   |   0.0876  |
|     011      |   6.1498   |   0.0876  |
|     012      |   6.1498   |   0.0876  |
|     014      |   6.1498   |   0.0876  |
|     015      |   6.1498   |   0.0876  |
|     016      |   6.1498   |   0.0876  |
|     017      |   6.1498   |   0.0876  |
|     018      |   6.1498   |   0.0876  |
|   Averages   |   6.1498   |   0.0876  |
+--------------+------------+-----------+

Physical:

Calibration:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |     276.0847    |   0.0983  |     177.7086     |
|    001     |     333.0664    |   0.1300  |     199.8883     |
|    002     |     363.7477    |   0.1256  |     239.0172     |
|    003     |     384.0595    |   0.0937  |     252.8402     |
|    004     |     395.3285    |   0.0953  |     263.8895     |
|    005     |     393.5271    |   0.1515  |     262.3082     |
|    006     |     356.9554    |   0.1308  |     231.1897     |
|    007     |     352.8017    |   0.1092  |     232.4032     |
|    008     |     238.9263    |   0.0991  |     121.0962     |
|    009     |     213.4474    |   0.0989  |     110.0344     |
|    010     |     139.1061    |   0.0940  |     80.7893      |
|    011     |     122.5287    |   0.0893  |     72.6305      |
|    012     |     107.8118    |   0.0925  |     71.6872      |
|    013     |     103.1728    |   0.1025  |     74.4856      |
|    014     |     96.0054     |   0.1148  |     72.8788      |
|    015     |     123.7385    |   0.1205  |     116.6639     |
|    016     |     129.2602    |   0.1100  |     117.6006     |
|    017     |     159.7937    |   0.1127  |     159.3254     |
|    018     |     178.6786    |   0.1078  |     168.7972     |
|    019     |     161.0808    |   0.1164  |     170.1356     |
|    027     |     295.8809    |   0.1571  |     256.0675     |
|    028     |     356.2531    |   0.1428  |     265.2996     |
|    029     |     376.8879    |   0.1692  |       ---        |
|    030     |     384.6041    |   0.1449  |       ---        |
|    031     |     374.7137    |   0.1396  |     252.9052     |
|    032     |     361.4625    |   0.1346  |     239.3378     |
|    033     |     344.6616    |   0.1335  |     221.8773     |
|    034     |     152.5879    |   0.1112  |     129.6849     |
|    035     |     91.6060     |   0.1071  |     83.8157      |
|    036     |     73.2003     |   0.1228  |     95.3536      |
|    037     |     88.0877     |   0.1153  |     66.0819      |
|    038     |     136.8428    |   0.0998  |     73.4051      |
|  Averages  |     239.5597    |   0.1178  |     162.6399     |
+------------+-----------------+-----------+------------------+

top_left_camera to top_right_camera:

+--------------+-------------------------------------------+------------------------------------------+------------------------------------------+------------+-----------+
| Collection # |                 RMS (pix)                 |               X err (pix)                |               Y err (pix)                | Trans (mm) | Rot (deg) |
+--------------+-------------------------------------------+------------------------------------------+------------------------------------------+------------+-----------+
|     000      |         16307858229056223232.0000         |         2195735270062788096.0000         |         6599746003250591744.0000         | 10863.5589 |  162.8752 |
|     001      |         10616650603167150080.0000         |         1941012628052120320.0000         |         1916088375497180160.0000         | 10857.1001 |  162.8754 |
|     002      |         17352426255940710400.0000         |         4504107103036100608.0000         |         3647164875057525248.0000         | 10893.6896 |  162.8754 |
|     007      |          9331426728702879744.0000         |          87950672279711648.0000          |         2944189042561146368.0000         | 10870.6274 |  162.8614 |
|     008      |         13841414641625143296.0000         |         3239255380495381504.0000         |         3263369866079790592.0000         | 10862.7960 |  162.8614 |
|     009      |          6755154168771401728.0000         |         771251281070504576.0000          |         846045532552854016.0000          | 10868.9843 |  162.8623 |
|     010      |       301109668841363395837952.0000       |       20068972554536137785344.0000       |       38309511116575140216832.0000       | 10847.1471 |  162.8621 |
|     011      |          278375530079749312.0000          |         108838956944483984.0000          |         102756373579274592.0000          | 10904.6573 |  162.8616 |
|     012      |                    inf                    |                   inf                    |                   inf                    | 10882.1587 |  162.8625 |
|     013      |        11238117972247790485504.0000       |       1794197472501245149184.0000        |       1610873582719516278784.0000        | 10832.3764 |  162.8624 |
|     014      | 262726487986262957930565328766500864.0000 | 22790746860198455998880083957776384.0000 | 18531925745554573450749722394361856.0000 | 10834.7908 |  162.8625 |
|     019      |         174622655448213127168.0000        |        14955913658327105536.0000         |        59350757258108600320.0000         | 10844.9078 |  162.8749 |
|     020      |         12971084266948782080.0000         |         1365506635069250048.0000         |         4357127199194639872.0000         | 10843.9150 |  162.8696 |
|     021      |         12930036788994723840.0000         |         1043691508015392128.0000         |         4569193000570508288.0000         | 10872.5403 |  162.8664 |
|     022      |      271708175215227818192404480.0000     |     87257545614357767460487168.0000      |     98267012293469812467695616.0000      | 10853.4852 |  162.8620 |
|   Averages   |                    inf                    |                   inf                    |                   inf                    | 10862.1823 |  162.8663 |
+--------------+-------------------------------------------+------------------------------------------+------------------------------------------+------------+-----------+

top_left_camera to top_lidar:

+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
|     000      |  125.2144 |   121.1221  |   31.7505   |
|     001      |  130.7647 |   122.1221  |   46.7505   |
|     002      |  126.2537 |   110.1221  |   61.7505   |
|     003      |  115.7381 |   99.1221   |   59.7505   |
|     007      |  14.7273  |    8.8779   |   11.7505   |
|     008      |  16.9307  |    9.8779   |   13.7505   |
|     009      |  21.1586  |   19.8779   |    7.2495   |
|     010      |  36.2456  |   31.8779   |   17.2495   |
|     011      |  42.0716  |   36.8779   |   20.2495   |
|     012      |  56.3389  |   46.8779   |   31.2495   |
|     013      |  75.3138  |   64.8779   |   38.2495   |
|     014      |  76.3490  |   64.8779   |   40.2495   |
|     018      |  249.1774 |   249.1221  |    5.2495   |
|     019      |  192.1691 |   192.1221  |    4.2495   |
|     020      |  85.1110  |   81.1221   |   25.7505   |
|     021      |  27.2846  |   24.1221   |   12.7505   |
|     022      |  74.0593  |   40.1221   |   62.2495   |
|   Averages   |  86.1710  |   77.8307   |   28.8382   |
+--------------+-----------+-------------+-------------+

top_right_camera to top_lidar:

+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
|     000      |  67.3464  |   63.1665   |   23.3565   |
|     001      |  59.6961  |   50.1665   |   32.3565   |
|     002      |  45.9691  |   40.1665   |   22.3565   |
|     006      |  58.8716  |   56.8335   |   15.3565   |
|     007      |  52.1095  |   51.8335   |    5.3565   |
|     008      |  52.1095  |   51.8335   |    5.3565   |
|     009      |  48.1653  |   47.8335   |    5.6435   |
|     010      |  46.2148  |   43.8335   |   14.6435   |
|     011      |  45.7998  |   41.8335   |   18.6435   |
|     012      |  46.3219  |   39.8335   |   23.6435   |
|     013      |  48.5525  |   41.8335   |   24.6435   |
|     014      |  47.9227  |   39.8335   |   26.6435   |
|     017      |  174.7072 |   168.1665  |   47.3565   |
|     019      |  143.2058 |   143.1665  |    3.3565   |
|     020      |  45.9246  |   41.1665   |   20.3565   |
|     021      |   3.8751  |    2.8335   |    2.6435   |
|     022      |  31.0621  |   14.1665   |   27.6435   |
|   Averages   |  59.8738  |   55.2059   |   18.7857   |
+--------------+-----------+-------------+-------------+

Physical anchored:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |     276.1004    |   0.0935  |     177.7561     |
|    001     |     333.0737    |   0.1213  |     199.9009     |
|    002     |     363.7478    |   0.1198  |     239.0261     |
|    003     |     384.0548    |   0.0891  |     252.8297     |
|    004     |     395.3205    |   0.0906  |     263.8689     |
|    005     |     393.5184    |   0.1491  |     262.2873     |
|    006     |     356.9531    |   0.1280  |     231.1886     |
|    007     |     352.8004    |   0.1054  |     232.4016     |
|    008     |     238.9397    |   0.0971  |     121.1126     |
|    009     |     213.4596    |   0.0936  |     110.0641     |
|    010     |     139.1039    |   0.0909  |     80.7932      |
|    011     |     122.5209    |   0.0839  |     72.6149      |
|    012     |     107.7987    |   0.0865  |     71.6612      |
|    013     |     103.1567    |   0.0936  |     74.4535      |
|    014     |     95.9994     |   0.1065  |     72.8532      |
|    015     |     123.7443    |   0.1155  |     116.6876     |
|    016     |     129.2693    |   0.1048  |     117.6170     |
|    017     |     159.8015    |   0.1082  |     159.3327     |
|    018     |     178.6860    |   0.1033  |     168.8144     |
|    019     |     161.0960    |   0.1087  |     170.1659     |
|    027     |     295.8873    |   0.1440  |     256.0899     |
|    028     |     356.2548    |   0.1347  |     265.3142     |
|    029     |     376.8892    |   0.1608  |       ---        |
|    030     |     384.6042    |   0.1395  |       ---        |
|    031     |     374.7082    |   0.1356  |     252.9031     |
|    032     |     361.4537    |   0.1285  |     239.3237     |
|    033     |     344.6476    |   0.1243  |     221.8471     |
|    034     |     152.5988    |   0.1073  |     129.7134     |
|    035     |     91.6364     |   0.1054  |     83.8481      |
|    036     |     73.2257     |   0.1139  |     95.4034      |
|    037     |     88.1060     |   0.1102  |     66.1385      |
|    038     |     136.8419    |   0.0968  |     73.3950      |
|  Averages  |     239.5625    |   0.1122  |     162.6469     |
+------------+-----------------+-----------+------------------+
manuelgitgomes commented 2 years ago

OpenCV calibration:

Simulation: Calib:

Partial detection removed: label from collection 000, sensor top_left_camera
Partial detection removed: label from collection 001, sensor top_left_camera
Partial detection removed: label from collection 002, sensor top_left_camera
Partial detection removed: label from collection 003, sensor top_left_camera
Partial detection removed: label from collection 004, sensor top_left_camera
Partial detection removed: label from collection 005, sensor top_left_camera
Partial detection removed: label from collection 006, sensor top_left_camera
Partial detection removed: label from collection 007, sensor top_left_camera
Partial detection removed: label from collection 008, sensor top_left_camera
Partial detection removed: label from collection 009, sensor top_left_camera
Partial detection removed: label from collection 010, sensor top_left_camera
Partial detection removed: label from collection 011, sensor top_right_camera
Partial detection removed: label from collection 012, sensor top_left_camera
Partial detection removed: label from collection 013, sensor top_left_camera
Partial detection removed: label from collection 014, sensor top_left_camera
Partial detection removed: label from collection 015, sensor top_left_camera
Partial detection removed: label from collection 016, sensor top_left_camera
Partial detection removed: label from collection 018, sensor top_left_camera
Partial detection removed: label from collection 019, sensor top_left_camera
Partial detection removed: label from collection 020, sensor top_left_camera
Partial detection removed: label from collection 021, sensor top_left_camera
Partial detection removed: label from collection 022, sensor top_left_camera
Partial detection removed: label from collection 023, sensor top_left_camera
Partial detection removed: label from collection 024, sensor top_left_camera
Partial detection removed: label from collection 025, sensor top_left_camera
Partial detection removed: label from collection 026, sensor top_left_camera
Partial detection removed: label from collection 027, sensor top_left_camera
Partial detection removed: label from collection 028, sensor top_left_camera
Partial detection removed: label from collection 029, sensor top_left_camera
Partial detection removed: label from collection 030, sensor top_left_camera
Partial detection removed: label from collection 031, sensor top_left_camera
Partial detection removed: label from collection 032, sensor top_left_camera
Partial detection removed: label from collection 033, sensor top_right_camera
Partial detection removed: label from collection 034, sensor top_right_camera
Partial detection removed: label from collection 035, sensor top_left_camera
Partial detection removed: label from collection 036, sensor top_left_camera
Partial detection removed: label from collection 037, sensor top_left_camera
Partial detection removed: label from collection 038, sensor top_left_camera
Partial detection removed: label from collection 039, sensor top_left_camera
Partial detection removed: label from collection 040, sensor top_left_camera
Partial detection removed: label from collection 041, sensor top_left_camera
Partial detection removed: label from collection 042, sensor top_left_camera
Partial detection removed: label from collection 043, sensor top_left_camera
Partial detection removed: label from collection 044, sensor top_left_camera
Partial detection removed: label from collection 045, sensor top_left_camera
Partial detection removed: label from collection 046, sensor top_left_camera
Partial detection removed: label from collection 047, sensor top_left_camera
Partial detection removed: label from collection 048, sensor top_left_camera
Partial detection removed: label from collection 049, sensor top_left_camera
Partial detection removed: label from collection 050, sensor top_left_camera
Partial detection removed: label from collection 051, sensor top_left_camera
Partial detection removed: label from collection 052, sensor top_left_camera
Partial detection removed: label from collection 053, sensor top_left_camera

Using 0 collections.

Eval:

---

Real: Calib:

Using 1 collections.

---------------------
 Starting stereo calibration ...

---------------------
 Done!

------
Calibration results:
------

K_left [[ 384.93596679    0.          339.64328662]
 [   0.         -386.13914021  508.21039543]
 [   0.            0.            0.        ]]
D_left [[-7.72662030e-18]
 [-2.47230912e-17]
 [-3.55118281e-18]
 [-1.28061645e-18]
 [-5.38690677e-17]]
K_right [[ 284.07204436    0.          224.94966603]
 [   0.         -279.07936111  313.67025131]
 [   0.            0.            0.        ]]
D_right [[-6.83403691e-18]
 [-2.12092850e-17]
 [-3.49676778e-18]
 [-1.13062231e-18]
 [-4.44920030e-17]]
R [[1. 0. 0.]
 [0. 1. 0.]
 [0. 0. 1.]]
T [[ 7.91875408e-20]
 [-1.12394643e-19]
 [-1.00000000e-19]]
E [[ 0.00000000e+00  1.00000000e-19 -1.12394643e-19]
 [-1.00000000e-19  0.00000000e+00 -7.91875408e-20]
 [ 1.12394643e-19  7.91875408e-20  0.00000000e+00]]
F [[0. 0. 0.]
 [0. 0. 0.]
 [0. 0. 0.]]

Eval:

--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|     000      |  24.6244  |   24.3456   |    3.0778   |  69.9320   |   1.9444  |
|     001      |  39.4819  |   38.8817   |    6.6901   |  133.0294  |   0.9898  |
|     002      |  51.6244  |   50.7327   |    9.4113   |  195.8321  |   0.6420  |
|     007      |  51.1538  |   50.1870   |    8.2860   |  155.4212  |   3.0383  |
|     008      |  49.3220  |   48.6434   |    6.8716   |  147.4777  |   3.7916  |
|     009      |  38.6141  |   37.6203   |    5.1738   |  92.9789   |   4.3906  |
|     010      |  32.8230  |   31.2523   |    5.4732   |  66.5689   |   4.6620  |
|     011      |  27.7483  |   26.0989   |    4.3803   |  55.9719   |   4.8102  |
|     012      |  20.8093  |   18.5997   |    3.9512   |  56.1963   |   5.0868  |
|     013      |  12.2592  |    8.4583   |    4.0413   |  76.4793   |   5.4529  |
|     014      |  10.1739  |    7.2463   |    3.6627   |  64.4525   |   5.4062  |
|     019      |   6.8290  |    3.2035   |    5.5864   |  34.3403   |   2.7879  |
|     020      |  18.0524  |   17.8230   |    1.8660   |  51.6582   |   0.7942  |
|     021      |  28.4568  |   27.9685   |    4.9231   |  96.0286   |   1.3179  |
|     022      |  48.9779  |   48.0408   |    9.4952   |  191.0570  |   0.7424  |
|   Averages   |  30.7300  |   29.2735   |    5.5260   |  99.1616   |   3.0571  |
manuelgitgomes commented 2 years ago

Hello @miguelriemoliveira! I have some questions about the results. In simulation, I tried two different calibrations, one using an anchored sensor, and one without. The one without performed better in every evaluation except in sensor to frame, which is the most important in my dissertation. Is it relevant to present both calibrations? Should I only present the one with the anchored sensor? In the real environment, the results were bad. Initially, they would not run due to the value of the third column and third row in the intrinsic parameter matrix was 0, when it's always 1. After that change, they reached infinite values in rgb to rgb evaluation. Are these results presentable? If not, should I try to calibrate intrinsics using the bag file? Or should I simply present the unsatisfiable result of the calibration and argue that no evaluation is needed?

miguelriemoliveira commented 2 years ago

Hi @manuelgitgomes ,

In simulation, I tried two different calibrations, one using an anchored sensor, and one without. The one without performed better in every evaluation except in sensor to frame, which is the most important in my dissertation. Is it relevant to present both calibrations? Should I only present the one with the anchored sensor?

I think presenting both is relevant. Just explain properly the differences between both.

In the real environment, the results were bad. Initially, they would not run due to the value of the third column and third row in the intrinsic parameter matrix was 0, when it's always 1. After that change, they reached infinite values in rgb to rgb evaluation. Are these results presentable? If not, should I try to calibrate intrinsics using the bag file? Or should I simply present the unsatisfiable result of the calibration and argue that no evaluation is needed?

If you have time you could try to get the intrinsics of the cameras, and later to change the camera info messages in the bag to have these more accurate intrinsic values. But that's not something you can do in a week with the simultaneous task of writing the thesis... You could describe the procedure, say that it failed and explain why. Tables with infinite errors I think are not a good thing to insert in the thesis.

Keep it up!

manuelgitgomes commented 2 years ago

Cross-collection:

Simulated:

top left camera to top right camera:

+-----------------+-----------+-------------+-------------+------------+-----------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+-----------------+-----------+-------------+-------------+------------+-----------+
|     000-000     |   0.2556  |    0.1555   |    0.1182   |   1.9794   |   0.4632  |
|     000-002     |   0.3042  |    0.1600   |    0.1830   |   1.5116   |   0.2103  |
|     000-003     |   0.3838  |    0.2406   |    0.1815   |   4.1979   |   0.2644  |
|     000-005     |   0.6321  |    0.4290   |    0.2526   |   3.3498   |   0.4647  |
|     000-006     |   0.5249  |    0.3388   |    0.2581   |   5.8086   |   0.3474  |
|     000-014     |   0.6440  |    0.4820   |    0.2624   |   4.6392   |   0.4433  |
|     000-015     |   0.6130  |    0.3767   |    0.2990   |   3.4351   |   0.3694  |
|     000-016     |   0.3734  |    0.2591   |    0.1458   |   2.5066   |   0.5439  |
|     000-017     |   0.4135  |    0.2771   |    0.1828   |   2.2199   |   0.4765  |
|     000-018     |   0.5001  |    0.3579   |    0.2145   |   1.6849   |   0.2866  |
|     002-000     |   0.9228  |    0.8438   |    0.2388   |   2.8810   |   0.5527  |
|     002-002     |   0.3957  |    0.2494   |    0.1765   |   3.1672   |   0.0400  |
|     002-003     |   0.4981  |    0.2861   |    0.2749   |   0.9229   |   0.0874  |
|     002-005     |   0.6568  |    0.4446   |    0.3053   |   1.3953   |   0.2871  |
|     002-006     |   0.4875  |    0.2430   |    0.2864   |   1.2257   |   0.1697  |
|     002-014     |   1.0808  |    0.9593   |    0.3654   |   6.2306   |   0.2662  |
|     002-015     |   1.2378  |    1.0909   |    0.4107   |   3.6374   |   0.2381  |
|     002-016     |   1.1494  |    1.0770   |    0.2283   |   4.9903   |   0.3778  |
|     002-017     |   1.3070  |    1.2080   |    0.3094   |   2.9241   |   0.3133  |
|     002-018     |   1.7980  |    1.7099   |    0.2929   |   3.3141   |   0.1429  |
|     003-000     |   1.3486  |    1.3062   |    0.1673   |   4.8308   |   0.4520  |
|     003-002     |   0.5373  |    0.3972   |    0.2069   |   5.0997   |   0.1362  |
|     003-003     |   0.5176  |    0.3861   |    0.1302   |   2.5821   |   0.1747  |
|     003-005     |   0.7665  |    0.5386   |    0.3367   |   3.3329   |   0.3540  |
|     003-006     |   0.5511  |    0.3741   |    0.2507   |   0.7832   |   0.2129  |
|     003-014     |   1.5591  |    1.4894   |    0.1892   |   7.3969   |   0.3358  |
|     003-015     |   1.6889  |    1.5852   |    0.3818   |   5.3273   |   0.3431  |
|     003-016     |   1.7116  |    1.6697   |    0.1964   |   6.5460   |   0.3811  |
|     003-017     |   1.8491  |    1.7939   |    0.2115   |   4.7951   |   0.4027  |
|     003-018     |   2.6749  |    2.6242   |    0.2254   |   5.2328   |   0.2468  |
|     005-000     |   0.6853  |    0.4216   |    0.3516   |   1.0596   |   0.6718  |
|     005-002     |   0.7615  |    0.4091   |    0.3663   |   0.9425   |   0.1254  |
|     005-003     |   0.8055  |    0.4125   |    0.4352   |   2.4781   |   0.0972  |
|     005-005     |   0.9208  |    0.4721   |    0.4350   |   1.5703   |   0.1420  |
|     005-006     |   0.8971  |    0.5513   |    0.4482   |   3.8640   |   0.0905  |
|     005-014     |   0.6763  |    0.4174   |    0.3664   |   4.6431   |   0.1228  |
|     005-015     |   0.5715  |    0.3789   |    0.2767   |   3.0291   |   0.1906  |
|     005-016     |   0.6315  |    0.3356   |    0.3259   |   2.8971   |   0.2811  |
|     005-017     |   0.8074  |    0.4395   |    0.4487   |   1.6252   |   0.1933  |
|     005-018     |   1.0056  |    0.5869   |    0.4807   |   1.4734   |   0.1464  |
|     006-000     |   1.9375  |    1.8779   |    0.2795   |   5.6590   |   0.6818  |
|     006-002     |   1.2945  |    1.2231   |    0.1972   |   5.7536   |   0.1184  |
|     006-003     |   1.3686  |    1.2907   |    0.2555   |   3.9457   |   0.1088  |
|     006-005     |   1.0687  |    0.9001   |    0.2317   |   4.3639   |   0.1746  |
|     006-006     |   0.8880  |    0.8272   |    0.1871   |   2.5806   |   0.1421  |
|     006-014     |   1.9139  |    1.8227   |    0.3347   |   6.3850   |   0.1546  |
|     006-015     |   2.0977  |    2.0015   |    0.3987   |   6.7674   |   0.1660  |
|     006-016     |   2.0538  |    1.9890   |    0.3385   |   6.1895   |   0.3352  |
|     006-017     |   2.2839  |    2.2043   |    0.4079   |   5.7890   |   0.1975  |
|     006-018     |   3.2556  |    3.1736   |    0.4174   |   6.0868   |   0.1328  |
|     014-000     |   1.1236  |    1.0665   |    0.1343   |   4.7300   |   0.7543  |
|     014-002     |   1.8724  |    1.8288   |    0.2376   |   4.2195   |   0.2644  |
|     014-003     |   1.9085  |    1.8500   |    0.2237   |   5.8839   |   0.2156  |
|     014-005     |   2.7034  |    2.6434   |    0.4209   |   5.2658   |   0.0755  |
|     014-006     |   3.0255  |    2.9728   |    0.3850   |   6.7666   |   0.1285  |
|     014-014     |   0.5643  |    0.3938   |    0.2263   |   1.0497   |   0.0839  |
|     014-015     |   0.6532  |    0.4432   |    0.2873   |   6.6693   |   0.2745  |
|     014-016     |   0.4565  |    0.3364   |    0.1481   |   1.2220   |   0.1611  |
|     014-017     |   0.4822  |    0.3202   |    0.2060   |   5.0176   |   0.1874  |
|     014-018     |   0.7336  |    0.5121   |    0.2807   |   4.7227   |   0.2558  |
|     015-000     |   0.6712  |    0.5414   |    0.2260   |   3.1551   |   0.8155  |
|     015-002     |   1.2191  |    1.1461   |    0.2101   |   3.6768   |   0.2395  |
|     015-003     |   1.2853  |    1.1799   |    0.2528   |   3.0108   |   0.1962  |
|     015-005     |   1.8285  |    1.7531   |    0.2701   |   2.9813   |   0.1057  |
|     015-006     |   1.8813  |    1.8156   |    0.3490   |   4.2923   |   0.1979  |
|     015-014     |   0.5058  |    0.1973   |    0.3700   |   8.5795   |   0.0946  |
|     015-015     |   0.5477  |    0.2461   |    0.2552   |   1.4621   |   0.1226  |
|     015-016     |   0.3946  |    0.2174   |    0.2272   |   6.6745   |   0.3379  |
|     015-017     |   0.4187  |    0.2771   |    0.1867   |   2.9058   |   0.0515  |
|     015-018     |   0.6925  |    0.4477   |    0.3590   |   3.2500   |   0.1681  |
|     016-000     |   0.3813  |    0.2872   |    0.1243   |   2.3689   |   0.7303  |
|     016-002     |   0.9118  |    0.8445   |    0.1837   |   1.8159   |   0.2992  |
|     016-003     |   0.9213  |    0.8341   |    0.1836   |   4.2176   |   0.2525  |
|     016-005     |   1.4937  |    1.4222   |    0.2504   |   3.4242   |   0.1516  |
|     016-006     |   1.8589  |    1.8203   |    0.1963   |   5.6487   |   0.1506  |
|     016-014     |   0.9281  |    0.8152   |    0.2514   |   3.6373   |   0.1592  |
|     016-015     |   0.9385  |    0.7962   |    0.3062   |   4.1375   |   0.3409  |
|     016-016     |   0.3644  |    0.2964   |    0.0953   |   1.4866   |   0.0844  |
|     016-017     |   0.4613  |    0.3276   |    0.2033   |   2.6257   |   0.2598  |
|     016-018     |   0.6500  |    0.4887   |    0.2183   |   2.2078   |   0.3070  |
|     017-000     |   0.2847  |    0.1517   |    0.1696   |   1.7322   |   0.8203  |
|     017-002     |   0.4155  |    0.2874   |    0.1877   |   2.2143   |   0.3234  |
|     017-003     |   0.4465  |    0.3301   |    0.1771   |   1.5433   |   0.2700  |
|     017-005     |   0.6320  |    0.4836   |    0.2094   |   1.3342   |   0.0873  |
|     017-006     |   0.4630  |    0.3137   |    0.2254   |   3.2361   |   0.1909  |
|     017-014     |   0.5075  |    0.2301   |    0.3205   |   6.8969   |   0.1069  |
|     017-015     |   0.5237  |    0.2314   |    0.2635   |   1.3547   |   0.2943  |
|     017-016     |   0.3088  |    0.1420   |    0.1934   |   5.0589   |   0.1787  |
|     017-017     |   0.3077  |    0.1965   |    0.1110   |   1.4183   |   0.1789  |
|     017-018     |   0.4626  |    0.2935   |    0.2233   |   1.9078   |   0.2943  |
|     018-000     |   0.2567  |    0.1541   |    0.1214   |   1.0287   |   0.8311  |
|     018-002     |   0.2886  |    0.1808   |    0.1336   |   1.4954   |   0.3164  |
|     018-003     |   0.3546  |    0.2193   |    0.1697   |   1.6388   |   0.2598  |
|     018-005     |   0.4035  |    0.2657   |    0.1601   |   1.0256   |   0.0756  |
|     018-006     |   0.4147  |    0.2271   |    0.2478   |   3.4111   |   0.1925  |
|     018-014     |   0.4219  |    0.2389   |    0.2080   |   6.2251   |   0.0942  |
|     018-015     |   0.4785  |    0.2037   |    0.2866   |   1.5376   |   0.2659  |
|     018-016     |   0.2580  |    0.1452   |    0.1421   |   4.3560   |   0.2104  |
|     018-017     |   0.3253  |    0.1824   |    0.1833   |   0.8003   |   0.1471  |
|     018-018     |   0.3184  |    0.2345   |    0.0852   |   1.2571   |   0.2727  |
|     Averages    |   0.9306  |    0.7792   |    0.2535   |   3.5163   |   0.2653  |
+-----------------+-----------+-------------+-------------+------------+-----------+

top lidar to top left camera:

+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
|     000-000     |   2.5749  |    2.1152   |    0.4102   |
|     000-001     |   3.3854  |    3.0071   |    0.3970   |
|     000-002     |   2.0879  |    1.5415   |    0.5651   |
|     000-003     |   3.0161  |    2.0960   |    0.5775   |
|     000-004     |   2.6198  |    1.9918   |    0.6493   |
|     000-005     |   3.5530  |    2.6806   |    0.3832   |
|     000-006     |   2.8362  |    2.0894   |    0.2417   |
|     000-009     |   4.8964  |    3.3294   |    0.1968   |
|     000-010     |   3.1457  |    2.7075   |    0.3203   |
|     000-011     |   4.1472  |    2.8363   |    0.7290   |
|     000-012     |   3.1471  |    2.4350   |    0.3004   |
|     000-014     |   2.8031  |    1.7659   |    0.5620   |
|     000-015     |   2.1316  |    1.4719   |    0.3491   |
|     000-016     |   2.7527  |    2.1783   |    0.2596   |
|     000-017     |   2.3809  |    2.1547   |    0.2966   |
|     000-018     |   3.1643  |    2.5129   |    0.4965   |
|     001-000     |   1.4295  |    1.1111   |    0.4329   |
|     001-001     |   1.8872  |    1.1928   |    0.6328   |
|     001-002     |   2.3088  |    1.6349   |    1.1105   |
|     001-003     |   3.0751  |    2.1652   |    0.6983   |
|     001-004     |   1.9452  |    1.5475   |    0.6509   |
|     001-005     |   3.4501  |    2.9224   |    0.2378   |
|     001-006     |   2.6451  |    2.0372   |    0.5265   |
|     001-009     |   3.1369  |    2.9523   |    0.4943   |
|     001-010     |   3.9072  |    3.1688   |    0.9022   |
|     001-011     |   2.2824  |    1.8470   |    0.3174   |
|     001-012     |   3.3300  |    2.6229   |    0.6827   |
|     001-014     |   1.0561  |    0.6030   |    0.5294   |
|     001-015     |   1.8981  |    1.4545   |    0.4855   |
|     001-016     |   2.0818  |    1.7142   |    0.6036   |
|     001-017     |   1.5199  |    1.0686   |    0.2471   |
|     001-018     |   1.1051  |    0.8827   |    0.3764   |
|     002-000     |   3.1723  |    2.3053   |    0.2787   |
|     002-001     |   4.2396  |    3.6785   |    0.2653   |
|     002-002     |   2.6904  |    1.9781   |    0.5289   |
|     002-003     |   2.0362  |    1.6377   |    0.2701   |
|     002-004     |   2.2900  |    1.9639   |    0.2639   |
|     002-005     |   2.4706  |    1.9345   |    0.2667   |
|     002-006     |   1.8468  |    1.3538   |    0.2913   |
|     002-009     |   6.4802  |    4.5633   |    0.5672   |
|     002-010     |   4.0134  |    3.3025   |    0.5768   |
|     002-011     |   4.9871  |    3.3139   |    0.7470   |
|     002-012     |   3.9102  |    2.8931   |    0.5157   |
|     002-014     |   3.1560  |    1.6708   |    0.6397   |
|     002-015     |   2.9165  |    1.7645   |    0.6270   |
|     002-016     |   3.7274  |    3.1753   |    0.3021   |
|     002-017     |   3.6366  |    2.7508   |    0.4531   |
|     002-018     |   4.7154  |    3.9333   |    0.3693   |
|     003-000     |   2.9560  |    2.1194   |    0.3000   |
|     003-001     |   3.9681  |    3.2934   |    0.2366   |
|     003-002     |   2.2711  |    1.6646   |    0.3965   |
|     003-003     |   1.7211  |    1.2775   |    0.2802   |
|     003-004     |   1.9389  |    1.5563   |    0.2856   |
|     003-005     |   2.3035  |    1.6921   |    0.3459   |
|     003-006     |   1.9732  |    1.4386   |    0.4600   |
|     003-009     |   6.2493  |    4.2092   |    0.5598   |
|     003-010     |   3.8711  |    3.1537   |    0.6965   |
|     003-011     |   4.8555  |    3.1717   |    1.0822   |
|     003-012     |   3.7179  |    2.8644   |    0.5853   |
|     003-014     |   3.1349  |    1.8166   |    0.6143   |
|     003-015     |   2.5401  |    1.4357   |    0.7698   |
|     003-016     |   3.3063  |    2.8042   |    0.2349   |
|     003-017     |   3.1940  |    2.4954   |    0.4342   |
|     003-018     |   4.5194  |    3.3717   |    0.8989   |
|     004-000     |   1.7423  |    1.2322   |    0.5599   |
|     004-001     |   3.4524  |    2.7593   |    0.5103   |
|     004-002     |   1.7924  |    1.2755   |    0.5943   |
|     004-003     |   2.6523  |    2.0335   |    0.5089   |
|     004-004     |   2.3270  |    1.8913   |    0.4353   |
|     004-005     |   2.9509  |    2.3078   |    0.2931   |
|     004-006     |   2.6459  |    2.0826   |    0.2408   |
|     004-009     |   2.1853  |    1.5165   |    0.5078   |
|     004-010     |   2.8868  |    2.2181   |    0.9998   |
|     004-011     |   1.8093  |    1.4301   |    0.3543   |
|     004-012     |   2.4469  |    1.9856   |    0.4545   |
|     004-014     |   1.4892  |    1.1954   |    0.4051   |
|     004-015     |   1.2744  |    0.9338   |    0.3973   |
|     004-016     |   3.0032  |    2.6063   |    0.4726   |
|     004-017     |   2.7479  |    1.6449   |    1.2026   |
|     004-018     |   3.1951  |    2.0623   |    1.3245   |
|     005-000     |   5.6488  |    3.6347   |    1.4279   |
|     005-001     |   6.5972  |    4.8988   |    1.1805   |
|     005-002     |   4.7783  |    3.1573   |    0.8509   |
|     005-003     |   2.8136  |    1.9729   |    0.8838   |
|     005-004     |   3.9635  |    2.7102   |    1.0441   |
|     005-005     |   3.8848  |    2.6145   |    0.6849   |
|     005-006     |   2.8431  |    1.8421   |    0.6241   |
|     005-009     |   9.1805  |    6.6407   |    0.8016   |
|     005-010     |   6.0566  |    4.8093   |    0.4166   |
|     005-011     |   6.8163  |    4.6163   |    0.4959   |
|     005-012     |   5.4803  |    3.9988   |    0.6415   |
|     005-014     |   5.2756  |    3.5323   |    1.0829   |
|     005-015     |   4.9176  |    2.8816   |    1.3839   |
|     005-016     |   5.6592  |    4.4870   |    0.5346   |
|     005-017     |   5.6272  |    4.0614   |    0.9624   |
|     005-018     |   7.4777  |    5.6891   |    0.7065   |
|     006-000     |   6.0535  |    3.7996   |    1.2934   |
|     006-001     |   7.4785  |    5.8467   |    1.2784   |
|     006-002     |   5.1364  |    3.4322   |    1.0525   |
|     006-003     |   2.8165  |    2.0571   |    0.6332   |
|     006-004     |   4.2308  |    3.2778   |    0.7684   |
|     006-005     |   4.4426  |    3.1455   |    0.5130   |
|     006-006     |   3.2939  |    2.3595   |    0.4635   |
|     006-009     |  10.0553  |    6.8879   |    1.6530   |
|     006-010     |   6.3622  |    4.8969   |    0.6650   |
|     006-011     |   7.6527  |    5.0093   |    1.0448   |
|     006-012     |   5.9326  |    4.1615   |    1.0545   |
|     006-014     |   5.5329  |    2.7987   |    1.5309   |
|     006-015     |   5.1144  |    2.7519   |    1.3474   |
|     006-016     |   6.1329  |    4.9317   |    1.1602   |
|     006-017     |   6.2582  |    4.6324   |    0.9749   |
|     006-018     |   8.4161  |    6.5142   |    1.2409   |
|     009-000     |   3.5974  |    2.9882   |    0.6917   |
|     009-001     |   3.2575  |    2.6093   |    0.6902   |
|     009-002     |   2.6140  |    1.5640   |    0.7303   |
|     009-003     |   3.3657  |    2.4734   |    1.5213   |
|     009-004     |   2.8889  |    1.9783   |    0.7143   |
|     009-005     |   3.9082  |    2.4507   |    1.2393   |
|     009-006     |   2.0806  |    1.7835   |    0.5945   |
|     009-009     |   3.3451  |    2.8958   |    0.4040   |
|     009-010     |   2.6760  |    2.1150   |    0.3635   |
|     009-011     |   2.9546  |    2.3022   |    0.4617   |
|     009-012     |   2.9960  |    2.2453   |    0.8315   |
|     009-014     |   3.3909  |    2.7594   |    0.9854   |
|     009-015     |   2.3861  |    2.0205   |    0.3628   |
|     009-016     |   1.9050  |    1.3568   |    0.3512   |
|     009-017     |   1.1532  |    0.7247   |    0.3734   |
|     009-018     |   2.2612  |    1.9560   |    0.3647   |
|     010-000     |   4.0618  |    3.5928   |    0.2330   |
|     010-001     |   2.4052  |    1.8208   |    0.4009   |
|     010-002     |   2.9969  |    2.3490   |    0.3341   |
|     010-003     |   4.3912  |    3.3164   |    0.5163   |
|     010-004     |   2.9315  |    2.2533   |    0.4857   |
|     010-005     |   4.7074  |    3.5083   |    0.4852   |
|     010-006     |   3.3901  |    2.4038   |    0.4727   |
|     010-009     |   3.1822  |    2.5148   |    0.2159   |
|     010-010     |   2.0014  |    1.4697   |    0.3808   |
|     010-011     |   2.4401  |    1.6912   |    0.4787   |
|     010-012     |   2.6410  |    2.2929   |    0.2680   |
|     010-014     |   2.4549  |    2.0275   |    0.3887   |
|     010-015     |   1.5209  |    1.1540   |    0.2702   |
|     010-016     |   3.4990  |    2.2377   |    0.6850   |
|     010-017     |   1.8919  |    1.2947   |    0.4738   |
|     010-018     |   1.9601  |    1.5628   |    0.2456   |
|     011-000     |   3.2087  |    2.6218   |    0.4238   |
|     011-001     |   2.8516  |    1.8038   |    0.4020   |
|     011-002     |   3.0351  |    2.0482   |    0.6963   |
|     011-003     |   3.9096  |    3.0327   |    0.4174   |
|     011-004     |   2.6456  |    1.9354   |    0.5155   |
|     011-005     |   3.7709  |    2.8036   |    0.7780   |
|     011-006     |   2.7250  |    2.0832   |    0.6045   |
|     011-009     |   3.6514  |    3.1161   |    0.2350   |
|     011-010     |   2.9101  |    2.6418   |    0.2462   |
|     011-011     |   3.1420  |    2.6899   |    0.2473   |
|     011-012     |   3.4192  |    3.0324   |    0.2218   |
|     011-014     |   2.1409  |    1.5119   |    0.5188   |
|     011-015     |   2.3866  |    1.8725   |    0.4313   |
|     011-016     |   2.6274  |    1.9504   |    0.4356   |
|     011-017     |   2.3278  |    1.7004   |    0.2469   |
|     011-018     |   2.6071  |    1.9105   |    0.2920   |
|     012-000     |   3.8231  |    2.9405   |    1.1990   |
|     012-001     |   1.6518  |    1.4419   |    0.4717   |
|     012-002     |   3.9789  |    3.1158   |    1.1162   |
|     012-003     |   5.3307  |    3.9328   |    0.4188   |
|     012-004     |   2.5621  |    2.2594   |    0.5538   |
|     012-005     |   5.1932  |    3.9219   |    0.5006   |
|     012-006     |   3.7838  |    2.4320   |    0.5389   |
|     012-009     |   3.5908  |    3.0423   |    0.2696   |
|     012-010     |   2.3599  |    1.8352   |    0.5945   |
|     012-011     |   2.4358  |    2.0378   |    0.2206   |
|     012-012     |   2.9675  |    2.5082   |    0.1762   |
|     012-014     |   1.7584  |    1.5117   |    0.3259   |
|     012-015     |   1.0824  |    0.8444   |    0.3047   |
|     012-016     |   4.1487  |    2.7165   |    0.5210   |
|     012-017     |   2.4044  |    1.6216   |    0.2863   |
|     012-018     |   2.9351  |    1.9163   |    0.5043   |
|     014-000     |   3.0102  |    2.6410   |    0.4696   |
|     014-001     |   2.3898  |    2.0649   |    0.5102   |
|     014-002     |   2.3723  |    1.5212   |    0.8973   |
|     014-003     |   3.7167  |    2.9617   |    0.6908   |
|     014-004     |   2.6825  |    1.8763   |    1.0506   |
|     014-005     |   3.9836  |    3.0356   |    0.6309   |
|     014-006     |   2.9846  |    1.8320   |    0.6359   |
|     014-009     |   3.2956  |    2.4370   |    0.4411   |
|     014-010     |   2.3335  |    1.8124   |    0.4248   |
|     014-011     |   2.9263  |    2.1755   |    0.4859   |
|     014-012     |   2.5860  |    1.7694   |    0.7205   |
|     014-014     |   2.5408  |    1.7449   |    0.7751   |
|     014-015     |   1.2985  |    0.9611   |    0.5564   |
|     014-016     |   2.6277  |    2.1500   |    0.2278   |
|     014-017     |   1.5296  |    1.3855   |    0.1892   |
|     014-018     |   1.6712  |    1.4733   |    0.4016   |
|     015-000     |   2.7469  |    2.1142   |    0.5089   |
|     015-001     |   2.3601  |    1.9819   |    0.3170   |
|     015-002     |   2.2026  |    1.8376   |    0.4366   |
|     015-003     |   3.3879  |    2.6182   |    0.7488   |
|     015-004     |   2.5975  |    2.0380   |    0.5334   |
|     015-005     |   3.6642  |    2.7132   |    0.3181   |
|     015-006     |   2.7069  |    2.0028   |    0.4162   |
|     015-009     |   3.3079  |    2.4248   |    0.5420   |
|     015-010     |   2.2275  |    1.8225   |    0.3413   |
|     015-011     |   2.8612  |    2.1858   |    0.3584   |
|     015-012     |   2.4792  |    1.8685   |    0.3171   |
|     015-014     |   2.4064  |    1.6402   |    0.9018   |
|     015-015     |   1.6158  |    1.2102   |    0.4231   |
|     015-016     |   2.1866  |    1.7156   |    0.2917   |
|     015-017     |   1.3872  |    1.2334   |    0.3147   |
|     015-018     |   1.7021  |    1.5091   |    0.1981   |
|     016-000     |   2.6540  |    2.0619   |    0.5749   |
|     016-001     |   2.6601  |    1.9579   |    0.7953   |
|     016-002     |   2.5159  |    1.9313   |    0.6348   |
|     016-003     |   3.3605  |    2.1941   |    0.6623   |
|     016-004     |   3.0455  |    2.3128   |    0.7923   |
|     016-005     |   4.1565  |    3.0793   |    0.3098   |
|     016-006     |   3.2565  |    2.5750   |    0.2651   |
|     016-009     |   3.5825  |    2.5032   |    0.6288   |
|     016-010     |   2.1894  |    1.8309   |    0.5775   |
|     016-011     |   3.2130  |    2.5450   |    0.4851   |
|     016-012     |   2.4559  |    1.7605   |    0.3819   |
|     016-014     |   2.5596  |    1.7133   |    0.6210   |
|     016-015     |   1.3736  |    1.0638   |    0.3227   |
|     016-016     |   2.6428  |    2.3458   |    0.3759   |
|     016-017     |   1.4443  |    1.1462   |    0.4051   |
|     016-018     |   1.9464  |    1.4932   |    0.4234   |
|     017-000     |   2.7190  |    2.2818   |    0.5084   |
|     017-001     |   3.0435  |    2.7325   |    0.2507   |
|     017-002     |   2.0489  |    1.7624   |    0.3396   |
|     017-003     |   3.3560  |    2.6294   |    0.4624   |
|     017-004     |   2.5355  |    2.0346   |    0.4181   |
|     017-005     |   3.7156  |    2.7593   |    0.2985   |
|     017-006     |   2.8056  |    2.2452   |    0.2842   |
|     017-009     |   4.6433  |    3.4939   |    0.4018   |
|     017-010     |   2.9618  |    2.2868   |    0.6928   |
|     017-011     |   3.6673  |    2.3549   |    0.6356   |
|     017-012     |   3.0659  |    1.9950   |    0.6408   |
|     017-014     |   2.6641  |    1.5923   |    0.7960   |
|     017-015     |   2.2114  |    1.3528   |    0.5803   |
|     017-016     |   2.1132  |    1.9262   |    0.3322   |
|     017-017     |   1.8528  |    1.2071   |    0.5871   |
|     017-018     |   2.1781  |    1.7830   |    0.4126   |
|     018-000     |   3.3606  |    2.7601   |    0.3787   |
|     018-001     |   3.7533  |    3.1037   |    0.4333   |
|     018-002     |   3.2663  |    2.5649   |    0.6433   |
|     018-003     |   4.4535  |    3.2362   |    0.5179   |
|     018-004     |   3.7723  |    2.9076   |    0.5634   |
|     018-005     |   5.1143  |    3.7726   |    0.4114   |
|     018-006     |   3.7496  |    2.6254   |    0.2784   |
|     018-009     |   5.9181  |    4.3838   |    0.7942   |
|     018-010     |   4.5102  |    3.6969   |    1.1217   |
|     018-011     |   5.1354  |    4.0313   |    0.6378   |
|     018-012     |   4.4884  |    3.3908   |    0.5408   |
|     018-014     |   4.0878  |    1.8954   |    1.4170   |
|     018-015     |   2.2024  |    1.4977   |    0.7297   |
|     018-016     |   3.3197  |    2.5345   |    0.3104   |
|     018-017     |   1.8808  |    1.5986   |    0.2436   |
|     018-018     |   3.2339  |    2.3781   |    1.0322   |
|     Averages    |   3.2669  |    2.4386   |    0.5634   |
+-----------------+-----------+-------------+-------------+

top lidar to top right camera:

+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
|     000-000     |   1.9936  |    1.6824   |    0.4377   |
|     000-002     |   1.8300  |    1.4709   |    0.3642   |
|     000-003     |   2.7825  |    2.1039   |    0.4572   |
|     000-005     |   3.4050  |    2.3501   |    0.5167   |
|     000-006     |   2.5647  |    1.9703   |    0.2209   |
|     000-014     |   2.5315  |    1.3163   |    0.5987   |
|     000-015     |   1.7910  |    1.1349   |    0.4324   |
|     000-016     |   2.0803  |    1.5098   |    0.4777   |
|     000-017     |   1.6779  |    1.4759   |    0.2934   |
|     000-018     |   2.3436  |    1.8781   |    0.3967   |
|     002-000     |   2.6440  |    1.8792   |    0.2688   |
|     002-002     |   1.9990  |    1.4739   |    0.3548   |
|     002-003     |   1.8665  |    1.4505   |    0.2508   |
|     002-005     |   2.1279  |    1.4915   |    0.3321   |
|     002-006     |   1.7492  |    1.3784   |    0.2764   |
|     002-014     |   3.2658  |    1.7010   |    0.5473   |
|     002-015     |   2.5518  |    1.5226   |    0.8144   |
|     002-016     |   3.0086  |    2.4576   |    0.5339   |
|     002-017     |   2.8450  |    2.2014   |    0.5024   |
|     002-018     |   4.0720  |    3.3010   |    0.3629   |
|     003-000     |   3.3880  |    2.5556   |    0.3864   |
|     003-002     |   2.5064  |    1.7880   |    0.6954   |
|     003-003     |   2.2321  |    1.6763   |    0.4160   |
|     003-005     |   2.6967  |    2.0268   |    0.4122   |
|     003-006     |   1.8101  |    1.2662   |    0.4402   |
|     003-014     |   3.8773  |    2.1598   |    0.8272   |
|     003-015     |   2.9445  |    1.8455   |    0.6947   |
|     003-016     |   3.6010  |    2.8680   |    0.4902   |
|     003-017     |   3.3302  |    2.3962   |    0.5896   |
|     003-018     |   4.7179  |    3.6391   |    0.7418   |
|     005-000     |   4.4587  |    2.8019   |    1.0006   |
|     005-002     |   3.4292  |    2.6441   |    0.6872   |
|     005-003     |   2.3880  |    1.7573   |    0.8422   |
|     005-005     |   3.1028  |    2.3127   |    0.9572   |
|     005-006     |   2.5481  |    1.8602   |    0.7833   |
|     005-014     |   4.3315  |    1.9254   |    1.5136   |
|     005-015     |   3.4623  |    2.0087   |    0.9046   |
|     005-016     |   4.9326  |    4.0948   |    0.9452   |
|     005-017     |   4.6800  |    3.2837   |    0.9375   |
|     005-018     |   6.2936  |    4.8355   |    1.1044   |
|     006-000     |   2.1872  |    1.7628   |    0.4453   |
|     006-002     |   1.5850  |    1.3448   |    0.4020   |
|     006-003     |   1.8593  |    1.2506   |    0.4444   |
|     006-005     |   1.8375  |    1.5724   |    0.2905   |
|     006-006     |   1.8070  |    1.5182   |    0.2725   |
|     006-014     |   2.3792  |    1.3576   |    1.0411   |
|     006-015     |   2.1643  |    1.2632   |    1.0619   |
|     006-016     |   3.7494  |    3.1520   |    0.4683   |
|     006-017     |   2.8978  |    1.8255   |    0.6801   |
|     006-018     |   3.0523  |    2.4362   |    0.6203   |
|     014-000     |   2.2381  |    1.8247   |    0.2063   |
|     014-002     |   2.1420  |    1.4903   |    0.5430   |
|     014-003     |   2.8637  |    1.9581   |    0.4349   |
|     014-005     |   3.1544  |    2.2483   |    0.4910   |
|     014-006     |   2.3587  |    1.7641   |    0.4469   |
|     014-014     |   1.5010  |    1.1028   |    0.2975   |
|     014-015     |   1.1316  |    0.9484   |    0.2608   |
|     014-016     |   1.4950  |    1.1245   |    0.1832   |
|     014-017     |   0.9758  |    0.7077   |    0.3137   |
|     014-018     |   1.1622  |    0.7589   |    0.2350   |
|     015-000     |   2.6650  |    2.1429   |    0.4344   |
|     015-002     |   2.3203  |    1.5771   |    0.7643   |
|     015-003     |   3.3323  |    2.6762   |    0.5078   |
|     015-005     |   3.1074  |    2.2353   |    0.6392   |
|     015-006     |   2.0225  |    1.4106   |    0.3139   |
|     015-014     |   2.1358  |    1.2382   |    0.6948   |
|     015-015     |   1.6386  |    1.2685   |    0.4195   |
|     015-016     |   1.9553  |    1.3802   |    0.5657   |
|     015-017     |   1.2762  |    0.9854   |    0.3960   |
|     015-018     |   1.5703  |    1.3144   |    0.1787   |
|     016-000     |   1.8530  |    1.5013   |    0.1842   |
|     016-002     |   2.0179  |    1.4490   |    0.6708   |
|     016-003     |   2.8467  |    1.9579   |    0.6091   |
|     016-005     |   3.5789  |    2.5415   |    0.6417   |
|     016-006     |   2.7092  |    2.2135   |    0.3054   |
|     016-014     |   2.1241  |    1.4519   |    0.3638   |
|     016-015     |   1.2890  |    0.9649   |    0.2771   |
|     016-016     |   1.6749  |    1.3092   |    0.3405   |
|     016-017     |   0.6408  |    0.4753   |    0.3140   |
|     016-018     |   1.3106  |    1.2164   |    0.3355   |
|     017-000     |   2.1947  |    1.5168   |    0.7426   |
|     017-002     |   2.1857  |    1.4265   |    0.5222   |
|     017-003     |   2.9447  |    2.1761   |    0.6527   |
|     017-005     |   3.2984  |    2.4972   |    0.4780   |
|     017-006     |   2.1353  |    1.5502   |    0.2699   |
|     017-014     |   2.5259  |    1.1018   |    0.6523   |
|     017-015     |   1.7889  |    1.4954   |    0.3900   |
|     017-016     |   1.8060  |    1.0751   |    0.2820   |
|     017-017     |   1.3900  |    1.2137   |    0.2609   |
|     017-018     |   2.3416  |    1.9884   |    0.5841   |
|     018-000     |   3.1689  |    2.3827   |    0.5360   |
|     018-002     |   3.5577  |    1.8805   |    0.9645   |
|     018-003     |   4.6248  |    3.2088   |    1.0104   |
|     018-005     |   4.5790  |    3.5575   |    0.3247   |
|     018-006     |   3.0346  |    2.3410   |    0.2991   |
|     018-014     |   3.9387  |    2.2407   |    1.1026   |
|     018-015     |   2.8802  |    2.4673   |    0.8390   |
|     018-016     |   2.2911  |    1.4353   |    0.5309   |
|     018-017     |   1.8874  |    1.6433   |    0.3924   |
|     018-018     |   2.9215  |    2.4190   |    0.6632   |
|     Averages    |   2.5997  |    1.8783   |    0.5340   |
+-----------------+-----------+-------------+-------------+

Simulated w/ anchor:

top left camera to top right camera:

+-----------------+-----------+-------------+-------------+------------+-----------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+-----------------+-----------+-------------+-------------+------------+-----------+
|     000-000     |   1.3244  |    0.7817   |    0.6034   |  18.6283   |   5.1401  |
|     000-002     |   1.1994  |    0.8340   |    0.4828   |  25.7961   |   1.5180  |
|     000-003     |   1.0039  |    0.7153   |    0.3850   |  18.1528   |   0.3086  |
|     000-005     |   1.7732  |    1.2293   |    0.8511   |  16.6387   |   0.5026  |
|     000-006     |   1.8248  |    0.7450   |    1.4357   |  14.2164   |   0.6347  |
|     000-014     |   1.0249  |    0.6670   |    0.4861   |  47.8891   |   1.8486  |
|     000-015     |   1.8500  |    1.4520   |    0.3936   |  17.3122   |   2.9086  |
|     000-016     |   0.9369  |    0.4173   |    0.5664   |  28.5860   |   1.9387  |
|     000-017     |   1.4496  |    1.1308   |    0.3921   |  14.0246   |   3.6574  |
|     000-018     |   2.4356  |    1.7009   |    1.1052   |  17.8719   |   3.9540  |
|     002-000     |   3.1852  |    2.9956   |    0.6351   |  28.1036   |   3.3842  |
|     002-002     |   1.6019  |    1.1561   |    0.6843   |  38.5390   |   0.6525  |
|     002-003     |   2.1243  |    1.7104   |    0.5915   |  31.4033   |   1.4874  |
|     002-005     |   1.9021  |    1.3039   |    0.9073   |  29.9936   |   1.3390  |
|     002-006     |   2.3659  |    1.5337   |    1.1911   |  26.9081   |   1.6718  |
|     002-014     |   4.2873  |    4.1137   |    0.6927   |  48.5197   |   1.7413  |
|     002-015     |   5.8389  |    5.7889   |    0.3847   |  25.5593   |   1.2675  |
|     002-016     |   4.5092  |    4.4131   |    0.5497   |  34.4119   |   0.7482  |
|     002-017     |   5.6571  |    5.5482   |    0.4329   |  24.9590   |   2.1182  |
|     002-018     |   8.5029  |    8.2781   |    0.9975   |  27.9745   |   2.3315  |
|     003-000     |   5.5099  |    5.3712   |    0.6382   |  35.3198   |   2.6479  |
|     003-002     |   2.4331  |    2.0292   |    0.7600   |  46.9017   |   1.1590  |
|     003-003     |   3.2368  |    2.8075   |    0.6471   |  40.0608   |   2.2658  |
|     003-005     |   2.6156  |    1.8046   |    1.1250   |  38.8349   |   2.1160  |
|     003-006     |   2.6826  |    2.0453   |    0.9606   |  35.6707   |   2.4513  |
|     003-014     |   6.8055  |    6.6223   |    0.7934   |  50.0959   |   2.3350  |
|     003-015     |   9.2364  |    9.2010   |    0.5383   |  32.4516   |   0.5694  |
|     003-016     |   7.6909  |    7.6076   |    0.6009   |  39.6541   |   1.1976  |
|     003-017     |   9.1085  |    9.0528   |    0.4344   |  32.8547   |   1.4357  |
|     003-018     |  13.4312  |   13.2918   |    1.0151   |  35.4559   |   1.5861  |
|     005-000     |   9.3678  |    9.2974   |    0.7258   |  37.7899   |   2.6104  |
|     005-002     |   6.3058  |    6.1334   |    0.7617   |  51.2329   |   1.1868  |
|     005-003     |   7.3322  |    7.1139   |    0.7725   |  45.4816   |   2.3225  |
|     005-005     |   5.5929  |    4.7650   |    1.3496   |  45.4644   |   2.1724  |
|     005-006     |   5.6807  |    5.2475   |    0.5670   |  42.8767   |   2.5144  |
|     005-014     |   9.3938  |    9.1666   |    1.6936   |  44.6722   |   2.4151  |
|     005-015     |  11.6810  |   11.6054   |    1.1964   |  34.5640   |   0.4883  |
|     005-016     |  10.9116  |   10.8220   |    0.9909   |  38.9498   |   1.2782  |
|     005-017     |  12.4799  |   12.4199   |    0.8498   |  36.6529   |   1.3548  |
|     005-018     |  18.3366  |   18.2429   |    1.3145   |  38.3381   |   1.5081  |
|     006-000     |  10.6079  |   10.5495   |    0.8324   |  40.1694   |   1.9174  |
|     006-002     |   7.0948  |    6.9635   |    0.7331   |  53.9816   |   1.8970  |
|     006-003     |   8.1483  |    7.9594   |    0.6783   |  48.5093   |   3.0676  |
|     006-005     |   6.1681  |    5.3030   |    1.2739   |  48.7467   |   2.9121  |
|     006-006     |   6.7402  |    6.0647   |    1.0824   |  46.2867   |   3.2438  |
|     006-014     |  11.4363  |   11.1939   |    2.2839   |  44.3566   |   3.0225  |
|     006-015     |  12.9840  |   12.8822   |    1.5108   |  36.9274   |   0.5607  |
|     006-016     |  12.3546  |   12.2492   |    1.2698   |  40.4440   |   1.8901  |
|     006-017     |  14.0512  |   13.9918   |    1.0486   |  39.3805   |   0.9526  |
|     006-018     |  20.7188  |   20.6319   |    1.5323   |  40.8542   |   0.9105  |
|     014-000     |   2.5833  |    2.4035   |    0.4627   |  17.2962   |   2.5186  |
|     014-002     |   2.7203  |    2.5691   |    0.5158   |  21.8055   |   1.4696  |
|     014-003     |   2.7009  |    2.2294   |    0.6717   |  13.8688   |   2.7553  |
|     014-005     |   4.0485  |    3.1264   |    1.4460   |  12.2228   |   2.6111  |
|     014-006     |   4.3793  |    3.0073   |    2.2981   |  10.7372   |   3.0024  |
|     014-014     |   2.6259  |    2.1591   |    0.5466   |  49.6409   |   3.0605  |
|     014-015     |   0.8344  |    0.5149   |    0.4310   |  17.1050   |   0.2204  |
|     014-016     |   1.8948  |    1.4514   |    0.4743   |  28.7599   |   1.9355  |
|     014-017     |   0.7405  |    0.5222   |    0.3615   |  12.2472   |   0.7338  |
|     014-018     |   1.3604  |    0.8403   |    0.8311   |  16.4729   |   0.9800  |
|     015-000     |   2.7328  |    2.3392   |    0.8335   |  31.2336   |   4.6423  |
|     015-002     |   3.7840  |    3.6282   |    0.6178   |  36.2081   |   1.2949  |
|     015-003     |   3.3514  |    3.2498   |    0.4798   |  27.8685   |   0.3252  |
|     015-005     |   5.0276  |    4.8613   |    1.0182   |  23.8558   |   0.2900  |
|     015-006     |   5.2702  |    4.8712   |    1.8202   |  19.9129   |   0.4360  |
|     015-014     |   1.2540  |    0.3643   |    0.8834   |  59.2770   |   1.2954  |
|     015-015     |   2.2904  |    1.9020   |    0.5942   |  30.0401   |   2.5518  |
|     015-016     |   1.4192  |    0.6942   |    0.8302   |  41.1843   |   1.3460  |
|     015-017     |   1.5511  |    0.9976   |    0.6183   |  26.4611   |   3.3648  |
|     015-018     |   2.7729  |    1.4884   |    1.3897   |  30.4490   |   3.6172  |
|     016-000     |   2.2143  |    1.8550   |    0.6106   |  24.6503   |   3.1586  |
|     016-002     |   3.5951  |    3.4777   |    0.4644   |  30.0618   |   0.7637  |
|     016-003     |   3.3192  |    3.0474   |    0.4891   |  21.8909   |   2.0765  |
|     016-005     |   5.4889  |    4.8659   |    1.2384   |  18.7581   |   1.9454  |
|     016-006     |   5.8482  |    4.8292   |    2.1472   |  15.4574   |   2.3646  |
|     016-014     |   1.3763  |    0.9598   |    0.5532   |  53.9977   |   2.6277  |
|     016-015     |   2.6522  |    2.5742   |    0.3986   |  23.6405   |   0.7091  |
|     016-016     |   1.2386  |    0.7728   |    0.5976   |  34.9654   |   1.5902  |
|     016-017     |   1.4224  |    1.2023   |    0.3839   |  19.8674   |   1.3800  |
|     016-018     |   2.4224  |    1.7785   |    0.9530   |  23.9233   |   1.6853  |
|     017-000     |   1.4418  |    0.5896   |    0.8534   |  29.5386   |   5.3977  |
|     017-002     |   1.6099  |    1.0362   |    0.6917   |  36.5729   |   2.2572  |
|     017-003     |   0.9802  |    0.4899   |    0.5154   |  28.5008   |   1.0191  |
|     017-005     |   1.6793  |    1.0914   |    0.8329   |  25.3658   |   1.1018  |
|     017-006     |   1.4785  |    0.7602   |    1.0453   |  21.5546   |   0.6757  |
|     017-014     |   1.0946  |    0.3658   |    0.7340   |  55.2131   |   1.2932  |
|     017-015     |   2.7996  |    2.2786   |    0.5690   |  27.7877   |   3.4715  |
|     017-016     |   1.4015  |    0.5771   |    0.8033   |  38.3634   |   2.0008  |
|     017-017     |   2.3129  |    1.7420   |    0.6095   |  25.1710   |   4.3049  |
|     017-018     |   3.7130  |    2.5831   |    1.3906   |  28.8848   |   4.5364  |
|     018-000     |   1.7545  |    1.0341   |    0.8476   |  30.9519   |   5.1180  |
|     018-002     |   2.3362  |    1.9559   |    0.6248   |  37.1562   |   1.8864  |
|     018-003     |   1.7263  |    1.5237   |    0.4844   |  28.9333   |   0.6600  |
|     018-005     |   2.9685  |    2.7126   |    0.8829   |  25.3508   |   0.7203  |
|     018-006     |   2.9877  |    2.5563   |    1.3864   |  21.3826   |   0.3033  |
|     018-014     |   1.0748  |    0.4465   |    0.6761   |  57.3810   |   1.2444  |
|     018-015     |   2.8568  |    2.4964   |    0.5228   |  29.3830   |   3.1235  |
|     018-016     |   1.3333  |    0.5314   |    0.8126   |  40.1745   |   1.7408  |
|     018-017     |   2.0921  |    1.5650   |    0.6119   |  26.4036   |   3.9477  |
|     018-018     |   3.4350  |    2.3100   |    1.3983   |  30.2192   |   4.1877  |
|     Averages    |   4.4893  |    4.0618   |    0.8500   |  32.1662   |   2.0088  |
+-----------------+-----------+-------------+-------------+------------+-----------+

top lidar to top left camera:

+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
|     000-000     |   2.5291  |    2.0983   |    0.1897   |
|     000-001     |   3.3692  |    3.1264   |    0.4561   |
|     000-002     |   3.1872  |    1.2225   |    1.1898   |
|     000-003     |   3.8421  |    2.1720   |    1.0877   |
|     000-004     |   3.4983  |    1.6495   |    1.2196   |
|     000-005     |   3.9864  |    2.2546   |    1.0428   |
|     000-006     |   3.5231  |    1.7955   |    0.9843   |
|     000-009     |   5.1524  |    3.5585   |    0.3944   |
|     000-010     |   3.5503  |    3.1351   |    0.3644   |
|     000-011     |   4.4427  |    3.3652   |    0.4225   |
|     000-012     |   3.3832  |    2.6307   |    0.4694   |
|     000-014     |   4.9933  |    2.1192   |    2.1478   |
|     000-015     |   4.7132  |    1.7144   |    2.2279   |
|     000-016     |   2.1897  |    1.6621   |    0.1880   |
|     000-017     |   2.1911  |    2.0220   |    0.2050   |
|     000-018     |   3.3834  |    2.3640   |    0.7116   |
|     001-000     |   2.6829  |    2.1067   |    0.3212   |
|     001-001     |   2.8449  |    2.3122   |    0.5073   |
|     001-002     |   4.0259  |    3.4668   |    0.8060   |
|     001-003     |   4.1847  |    3.2925   |    0.2584   |
|     001-004     |   3.4087  |    2.7964   |    0.4823   |
|     001-005     |   4.5699  |    3.4499   |    0.8804   |
|     001-006     |   3.5888  |    3.0032   |    0.6517   |
|     001-009     |   3.9296  |    3.1803   |    1.2731   |
|     001-010     |   4.7103  |    3.5345   |    1.2476   |
|     001-011     |   3.1126  |    2.2919   |    1.1673   |
|     001-012     |   4.4848  |    3.1027   |    1.5427   |
|     001-014     |   3.7316  |    1.1045   |    1.6792   |
|     001-015     |   4.1686  |    1.6762   |    1.8144   |
|     001-016     |   3.8447  |    3.3264   |    1.0961   |
|     001-017     |   3.1554  |    2.0414   |    1.0706   |
|     001-018     |   3.3147  |    0.5301   |    1.5317   |
|     002-000     |   3.5886  |    2.6539   |    0.6246   |
|     002-001     |   4.3902  |    3.5378   |    0.8532   |
|     002-002     |   3.3830  |    1.8925   |    0.8922   |
|     002-003     |   2.9078  |    1.4857   |    0.8466   |
|     002-004     |   2.9797  |    1.6419   |    0.8401   |
|     002-005     |   3.8580  |    1.8854   |    1.1401   |
|     002-006     |   3.4682  |    1.2249   |    1.1511   |
|     002-009     |   6.4197  |    4.6155   |    0.3662   |
|     002-010     |   4.3966  |    3.6905   |    0.2205   |
|     002-011     |   5.2122  |    3.7792   |    0.3817   |
|     002-012     |   4.0603  |    3.2204   |    0.2952   |
|     002-014     |   5.0999  |    2.0416   |    2.0600   |
|     002-015     |   4.6133  |    1.7825   |    2.1543   |
|     002-016     |   3.4958  |    2.9689   |    0.2438   |
|     002-017     |   3.4648  |    2.6984   |    0.3929   |
|     002-018     |   4.6697  |    3.4871   |    0.6566   |
|     003-000     |   3.0488  |    1.9300   |    0.5124   |
|     003-001     |   4.0482  |    3.3825   |    0.5301   |
|     003-002     |   3.0280  |    1.7199   |    0.9067   |
|     003-003     |   2.8031  |    1.7230   |    1.0497   |
|     003-004     |   3.0780  |    1.7975   |    1.0174   |
|     003-005     |   3.9041  |    1.6113   |    1.2575   |
|     003-006     |   3.8239  |    1.2809   |    1.3295   |
|     003-009     |   5.9552  |    4.2400   |    0.7935   |
|     003-010     |   4.0446  |    3.3064   |    0.7599   |
|     003-011     |   4.7902  |    3.4230   |    1.0089   |
|     003-012     |   3.8789  |    2.9272   |    0.6896   |
|     003-014     |   5.2469  |    1.8913   |    2.6168   |
|     003-015     |   4.5453  |    1.8363   |    2.1844   |
|     003-016     |   3.4743  |    2.8094   |    0.2349   |
|     003-017     |   3.0677  |    2.2657   |    0.3348   |
|     003-018     |   4.2840  |    2.9269   |    1.3877   |
|     004-000     |   2.5218  |    1.9394   |    0.3637   |
|     004-001     |   4.2373  |    3.7833   |    0.6244   |
|     004-002     |   2.9661  |    2.3848   |    0.5279   |
|     004-003     |   3.4056  |    3.1660   |    0.2810   |
|     004-004     |   3.5487  |    2.9823   |    0.4983   |
|     004-005     |   3.5976  |    2.9947   |    0.5771   |
|     004-006     |   3.1903  |    2.6474   |    0.5474   |
|     004-009     |   2.7840  |    1.9438   |    0.9704   |
|     004-010     |   3.3468  |    1.9493   |    1.0215   |
|     004-011     |   2.1904  |    1.1797   |    0.8067   |
|     004-012     |   3.6100  |    2.4533   |    1.1802   |
|     004-014     |   3.8183  |    1.5107   |    1.7006   |
|     004-015     |   4.0821  |    1.7468   |    1.9297   |
|     004-016     |   4.6304  |    4.2009   |    0.8216   |
|     004-017     |   3.9995  |    2.2710   |    0.8145   |
|     004-018     |   4.0746  |    2.0089   |    1.6886   |
|     005-000     |   6.0554  |    4.0312   |    0.6775   |
|     005-001     |   6.6358  |    4.6699   |    0.8099   |
|     005-002     |   5.3203  |    3.6909   |    1.4642   |
|     005-003     |   2.9841  |    2.3274   |    0.6844   |
|     005-004     |   4.5060  |    3.0890   |    1.0645   |
|     005-005     |   5.7742  |    3.0615   |    1.4168   |
|     005-006     |   5.0557  |    2.5492   |    1.3930   |
|     005-009     |   9.0600  |    6.8241   |    1.3722   |
|     005-010     |   6.7065  |    5.2109   |    1.5983   |
|     005-011     |   7.3491  |    5.4546   |    0.7627   |
|     005-012     |   5.9385  |    4.2827   |    1.0437   |
|     005-014     |   6.7466  |    3.5886   |    2.3766   |
|     005-015     |   5.8939  |    2.8698   |    2.0225   |
|     005-016     |   5.9398  |    4.6818   |    1.2719   |
|     005-017     |   5.9143  |    4.6089   |    0.5739   |
|     005-018     |   7.1506  |    4.8779   |    1.3877   |
|     006-000     |   6.2477  |    3.9237   |    0.5508   |
|     006-001     |   7.3677  |    5.8026   |    1.4473   |
|     006-002     |   5.6142  |    3.9802   |    1.1850   |
|     006-003     |   3.5494  |    2.5871   |    0.8175   |
|     006-004     |   5.1135  |    3.7107   |    0.8967   |
|     006-005     |   6.2087  |    3.3741   |    1.9897   |
|     006-006     |   5.5890  |    2.7572   |    1.8957   |
|     006-009     |   9.4313  |    6.7330   |    0.8203   |
|     006-010     |   6.6475  |    4.8552   |    0.9143   |
|     006-011     |   7.5855  |    5.1994   |    1.0689   |
|     006-012     |   6.3062  |    4.6341   |    0.8755   |
|     006-014     |   7.2479  |    3.2801   |    3.0454   |
|     006-015     |   6.2761  |    3.2021   |    2.7986   |
|     006-016     |   6.4625  |    5.6267   |    0.8339   |
|     006-017     |   6.4208  |    4.7867   |    0.4711   |
|     006-018     |   7.4155  |    5.0854   |    1.9608   |
|     009-000     |   4.8396  |    4.1194   |    0.2838   |
|     009-001     |   4.9090  |    3.7498   |    0.7373   |
|     009-002     |   5.0586  |    2.8570   |    2.1875   |
|     009-003     |   6.5114  |    5.0004   |    2.2823   |
|     009-004     |   5.4434  |    3.6403   |    2.1291   |
|     009-005     |   5.8896  |    2.6748   |    2.5467   |
|     009-006     |   4.9760  |    1.2955   |    2.1684   |
|     009-009     |   5.2512  |    4.6571   |    0.6230   |
|     009-010     |   4.4715  |    4.0735   |    0.5640   |
|     009-011     |   5.3363  |    4.3062   |    1.6810   |
|     009-012     |   5.3705  |    4.4163   |    1.7467   |
|     009-014     |   5.2792  |    3.4480   |    2.6122   |
|     009-015     |   5.1946  |    3.3294   |    2.2383   |
|     009-016     |   3.3318  |    2.6591   |    0.6390   |
|     009-017     |   3.3818  |    2.8984   |    0.2648   |
|     009-018     |   2.7523  |    1.7032   |    1.2446   |
|     010-000     |   3.7652  |    3.1590   |    0.6160   |
|     010-001     |   3.3936  |    2.6735   |    0.5631   |
|     010-002     |   3.4926  |    1.8369   |    0.8975   |
|     010-003     |   4.7643  |    3.6016   |    1.1419   |
|     010-004     |   3.8708  |    2.5639   |    1.1835   |
|     010-005     |   4.9925  |    3.0105   |    1.5756   |
|     010-006     |   4.4737  |    2.5987   |    1.5448   |
|     010-009     |   3.1757  |    2.4336   |    0.5261   |
|     010-010     |   2.9959  |    2.3448   |    0.7975   |
|     010-011     |   3.3376  |    2.7160   |    0.7213   |
|     010-012     |   3.3989  |    2.7243   |    0.6697   |
|     010-014     |   5.7275  |    2.8044   |    2.5171   |
|     010-015     |   5.8179  |    2.5252   |    2.8238   |
|     010-016     |   3.6901  |    2.5510   |    0.9211   |
|     010-017     |   3.0930  |    2.0589   |    0.5314   |
|     010-018     |   3.4448  |    1.6536   |    1.1969   |
|     011-000     |   3.0320  |    2.4501   |    0.2568   |
|     011-001     |   2.6015  |    2.0826   |    0.2480   |
|     011-002     |   4.0388  |    2.2742   |    1.0481   |
|     011-003     |   4.2084  |    2.7961   |    1.0111   |
|     011-004     |   3.3461  |    1.6373   |    0.9716   |
|     011-005     |   5.0652  |    2.8021   |    1.2258   |
|     011-006     |   4.4984  |    2.2300   |    1.3369   |
|     011-009     |   3.4569  |    2.6215   |    0.5947   |
|     011-010     |   3.1285  |    2.4532   |    0.8759   |
|     011-011     |   3.2145  |    2.5110   |    0.6028   |
|     011-012     |   3.5785  |    2.9879   |    0.5230   |
|     011-014     |   5.6394  |    1.2205   |    2.9265   |
|     011-015     |   5.6686  |    1.7234   |    2.8434   |
|     011-016     |   2.6239  |    2.1441   |    0.2557   |
|     011-017     |   2.3620  |    1.5842   |    0.2669   |
|     011-018     |   3.9542  |    2.1182   |    1.2107   |
|     012-000     |   5.3747  |    4.6171   |    0.8708   |
|     012-001     |   2.8502  |    1.7796   |    0.4154   |
|     012-002     |   6.4784  |    4.3452   |    2.0303   |
|     012-003     |   7.2331  |    5.2647   |    1.7520   |
|     012-004     |   4.4756  |    3.8992   |    0.6305   |
|     012-005     |   6.8165  |    5.4129   |    0.2864   |
|     012-006     |   5.0322  |    4.1121   |    0.3263   |
|     012-009     |   3.9274  |    2.2220   |    1.8650   |
|     012-010     |   3.7196  |    2.7770   |    1.1462   |
|     012-011     |   3.9242  |    1.9257   |    1.6331   |
|     012-012     |   4.0803  |    2.0623   |    2.0375   |
|     012-014     |   7.3305  |    2.2753   |    3.7251   |
|     012-015     |   6.6162  |    1.0958   |    3.2612   |
|     012-016     |   4.4975  |    3.7520   |    0.7336   |
|     012-017     |   2.6605  |    1.8114   |    0.3752   |
|     012-018     |   5.9383  |    2.7176   |    2.4419   |
|     014-000     |   2.8158  |    2.2288   |    0.2472   |
|     014-001     |   2.7644  |    2.3304   |    0.3604   |
|     014-002     |   2.9410  |    1.7078   |    0.8724   |
|     014-003     |   4.1311  |    3.0232   |    0.9968   |
|     014-004     |   3.3849  |    2.1017   |    0.9968   |
|     014-005     |   4.0684  |    2.5820   |    1.0659   |
|     014-006     |   3.3150  |    1.6163   |    0.9765   |
|     014-009     |   3.5230  |    2.4748   |    0.6758   |
|     014-010     |   2.7563  |    2.2547   |    0.6849   |
|     014-011     |   3.3260  |    2.4361   |    0.4749   |
|     014-012     |   2.9763  |    2.2539   |    0.5518   |
|     014-014     |   4.5938  |    1.6515   |    2.1934   |
|     014-015     |   4.4320  |    1.7457   |    2.1667   |
|     014-016     |   2.4174  |    1.8673   |    0.5006   |
|     014-017     |   1.8045  |    1.5829   |    0.3895   |
|     014-018     |   2.6452  |    1.7218   |    0.7811   |
|     015-000     |   2.7002  |    2.2968   |    0.4093   |
|     015-001     |   2.1019  |    1.7172   |    0.3657   |
|     015-002     |   3.3248  |    1.9499   |    1.1844   |
|     015-003     |   3.9306  |    2.6216   |    0.9061   |
|     015-004     |   3.4902  |    2.2539   |    1.1390   |
|     015-005     |   4.3745  |    2.8393   |    0.8949   |
|     015-006     |   3.6796  |    1.9565   |    0.9480   |
|     015-009     |   2.6673  |    1.8750   |    0.5170   |
|     015-010     |   2.0488  |    1.6311   |    0.4986   |
|     015-011     |   2.4808  |    1.8547   |    0.3893   |
|     015-012     |   2.2359  |    1.5590   |    0.4049   |
|     015-014     |   4.2111  |    1.6549   |    2.0303   |
|     015-015     |   3.8861  |    0.6488   |    2.0814   |
|     015-016     |   2.3613  |    2.0116   |    0.1607   |
|     015-017     |   1.0549  |    0.8263   |    0.2589   |
|     015-018     |   2.0140  |    1.0562   |    0.8417   |
|     016-000     |   2.5031  |    1.8287   |    0.2640   |
|     016-001     |   2.6592  |    2.3414   |    0.2592   |
|     016-002     |   2.9430  |    1.6860   |    0.8693   |
|     016-003     |   3.7213  |    2.1444   |    0.8460   |
|     016-004     |   3.4851  |    1.9492   |    0.9363   |
|     016-005     |   4.3203  |    2.7993   |    0.9503   |
|     016-006     |   3.7099  |    2.3107   |    0.9340   |
|     016-009     |   3.7400  |    2.5627   |    0.5202   |
|     016-010     |   2.8818  |    2.4078   |    0.5909   |
|     016-011     |   3.4148  |    2.4181   |    0.6618   |
|     016-012     |   2.8987  |    1.9999   |    0.6216   |
|     016-014     |   4.7760  |    1.6665   |    2.3525   |
|     016-015     |   4.5503  |    1.3851   |    2.3576   |
|     016-016     |   2.2504  |    1.6488   |    0.6007   |
|     016-017     |   1.3211  |    0.9700   |    0.3731   |
|     016-018     |   2.9069  |    1.4714   |    0.9847   |
|     017-000     |   2.2271  |    1.8083   |    0.1978   |
|     017-001     |   2.4564  |    2.2028   |    0.2692   |
|     017-002     |   2.8955  |    1.5748   |    0.9814   |
|     017-003     |   3.6778  |    2.2684   |    1.0399   |
|     017-004     |   3.2082  |    1.8856   |    0.9792   |
|     017-005     |   4.3870  |    2.4856   |    1.2279   |
|     017-006     |   3.7923  |    2.0388   |    1.0065   |
|     017-009     |   4.1814  |    3.0205   |    0.4148   |
|     017-010     |   3.0408  |    2.4604   |    0.5592   |
|     017-011     |   3.7006  |    2.7127   |    0.4459   |
|     017-012     |   3.1828  |    2.3984   |    0.5889   |
|     017-014     |   4.5953  |    1.4938   |    2.1571   |
|     017-015     |   4.2564  |    1.0293   |    2.1919   |
|     017-016     |   1.8972  |    1.4720   |    0.1749   |
|     017-017     |   1.2459  |    1.0278   |    0.2478   |
|     017-018     |   2.4674  |    1.3951   |    0.8224   |
|     018-000     |   3.3653  |    2.3558   |    0.4813   |
|     018-001     |   3.8392  |    3.1125   |    0.2367   |
|     018-002     |   4.2412  |    2.3943   |    1.1664   |
|     018-003     |   4.8088  |    2.8136   |    1.1264   |
|     018-004     |   4.6754  |    2.7279   |    1.1984   |
|     018-005     |   5.6657  |    3.5251   |    1.6289   |
|     018-006     |   4.9497  |    2.4706   |    1.3040   |
|     018-009     |   6.0309  |    5.0325   |    0.5992   |
|     018-010     |   5.1064  |    4.1934   |    0.6312   |
|     018-011     |   5.1574  |    3.8591   |    0.5783   |
|     018-012     |   4.8502  |    3.6015   |    0.6351   |
|     018-014     |   6.8357  |    2.8721   |    3.1827   |
|     018-015     |   6.0275  |    1.6652   |    3.0673   |
|     018-016     |   3.2319  |    2.1945   |    0.4106   |
|     018-017     |   1.7833  |    1.0751   |    0.5182   |
|     018-018     |   3.8486  |    2.5536   |    0.9997   |
|     Averages    |   4.1493  |    2.6865   |    1.0518   |
+-----------------+-----------+-------------+-------------+

top lidar to top right camera:

+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
|     000-000     |   2.7660  |    2.5611   |    0.3042   |
|     000-002     |   4.0133  |    2.0149   |    1.2180   |
|     000-003     |   4.5365  |    2.5517   |    1.3068   |
|     000-005     |   4.4939  |    2.5762   |    1.1215   |
|     000-006     |   3.8741  |    1.9981   |    1.1508   |
|     000-014     |   5.3381  |    1.5859   |    2.6253   |
|     000-015     |   5.1703  |    1.1557   |    2.4771   |
|     000-016     |   2.9276  |    2.1406   |    0.3644   |
|     000-017     |   2.5365  |    2.1682   |    0.3701   |
|     000-018     |   2.9716  |    1.9117   |    0.9246   |
|     002-000     |   3.1999  |    2.4300   |    0.2293   |
|     002-002     |   4.0954  |    2.0510   |    1.1788   |
|     002-003     |   3.7778  |    1.7238   |    1.2673   |
|     002-005     |   3.9739  |    1.8368   |    1.2149   |
|     002-006     |   3.6393  |    1.3668   |    1.2240   |
|     002-014     |   5.7808  |    2.4110   |    2.4549   |
|     002-015     |   5.5614  |    2.0155   |    2.4909   |
|     002-016     |   3.5393  |    2.8368   |    0.7683   |
|     002-017     |   3.6384  |    2.9775   |    0.5763   |
|     002-018     |   4.6477  |    3.0811   |    0.9464   |
|     003-000     |   4.4627  |    3.4725   |    0.4916   |
|     003-002     |   4.1398  |    2.5394   |    0.8904   |
|     003-003     |   3.6984  |    2.2732   |    1.3023   |
|     003-005     |   4.4060  |    2.0295   |    1.4129   |
|     003-006     |   3.7899  |    1.5127   |    1.3752   |
|     003-014     |   6.1360  |    2.7421   |    2.9932   |
|     003-015     |   5.9976  |    2.3350   |    2.6324   |
|     003-016     |   4.1338  |    3.3624   |    0.6126   |
|     003-017     |   4.6715  |    3.6866   |    0.7442   |
|     003-018     |   5.6446  |    3.6242   |    1.7167   |
|     005-000     |   5.8068  |    3.8750   |    0.9652   |
|     005-002     |   5.7465  |    3.8744   |    1.9832   |
|     005-003     |   3.9354  |    2.4988   |    1.2682   |
|     005-005     |   5.8833  |    2.9898   |    1.6971   |
|     005-006     |   5.1353  |    1.9918   |    1.5759   |
|     005-014     |   7.5705  |    2.8183   |    4.0272   |
|     005-015     |   7.4513  |    2.9454   |    3.3110   |
|     005-016     |   5.2680  |    4.3902   |    0.8885   |
|     005-017     |   6.0578  |    4.7251   |    0.6708   |
|     005-018     |   7.3878  |    4.9791   |    1.6939   |
|     006-000     |   3.9302  |    3.3301   |    1.3356   |
|     006-002     |   3.5289  |    2.4284   |    0.8089   |
|     006-003     |   3.6383  |    2.7789   |    0.9355   |
|     006-005     |   2.7140  |    2.0431   |    0.3735   |
|     006-006     |   2.7728  |    2.1626   |    0.3629   |
|     006-014     |   7.4828  |    3.0643   |    3.8545   |
|     006-015     |   7.0619  |    2.7757   |    3.8635   |
|     006-016     |   3.2238  |    2.0274   |    0.8811   |
|     006-017     |   2.8202  |    1.9690   |    0.2866   |
|     006-018     |   4.9354  |    3.1634   |    2.0669   |
|     014-000     |   3.0152  |    2.5423   |    0.2653   |
|     014-002     |   4.4530  |    2.7357   |    1.1486   |
|     014-003     |   4.6517  |    2.3633   |    1.1659   |
|     014-005     |   4.6837  |    2.8997   |    1.0744   |
|     014-006     |   3.9657  |    2.2450   |    0.9849   |
|     014-014     |   4.6533  |    1.4584   |    2.3132   |
|     014-015     |   4.3421  |    0.8367   |    2.3368   |
|     014-016     |   2.3013  |    1.9916   |    0.2983   |
|     014-017     |   1.2736  |    0.8506   |    0.3250   |
|     014-018     |   2.1946  |    1.0862   |    0.9527   |
|     015-000     |   2.8791  |    2.2296   |    0.5352   |
|     015-002     |   3.6944  |    2.0309   |    1.2075   |
|     015-003     |   4.6851  |    2.8051   |    1.2985   |
|     015-005     |   4.0056  |    2.2851   |    1.3672   |
|     015-006     |   3.5601  |    1.7119   |    1.0562   |
|     015-014     |   5.1812  |    1.7065   |    2.4626   |
|     015-015     |   5.2311  |    1.8507   |    2.4355   |
|     015-016     |   2.3286  |    1.9001   |    0.2251   |
|     015-017     |   2.4319  |    1.8994   |    0.2304   |
|     015-018     |   2.7907  |    1.6292   |    0.9517   |
|     016-000     |   2.5407  |    2.0589   |    0.4151   |
|     016-002     |   4.3858  |    2.1522   |    1.3834   |
|     016-003     |   4.8996  |    2.9178   |    1.3782   |
|     016-005     |   4.4590  |    2.6816   |    1.0523   |
|     016-006     |   3.7461  |    2.0046   |    1.1714   |
|     016-014     |   4.4967  |    1.4225   |    2.0841   |
|     016-015     |   4.2201  |    0.9373   |    2.2620   |
|     016-016     |   2.0678  |    1.5841   |    0.2236   |
|     016-017     |   1.3269  |    1.1357   |    0.2332   |
|     016-018     |   2.0980  |    1.1497   |    0.8045   |
|     017-000     |   2.7842  |    1.9733   |    0.5090   |
|     017-002     |   3.7153  |    1.8886   |    1.1652   |
|     017-003     |   4.3826  |    2.6515   |    1.5738   |
|     017-005     |   4.1280  |    2.4593   |    1.2459   |
|     017-006     |   3.4695  |    1.7163   |    1.0721   |
|     017-014     |   5.1244  |    2.0647   |    2.7023   |
|     017-015     |   5.0988  |    2.3873   |    2.4427   |
|     017-016     |   2.0945  |    1.3125   |    0.6075   |
|     017-017     |   2.5522  |    2.1189   |    0.6080   |
|     017-018     |   3.1614  |    2.0971   |    0.9002   |
|     018-000     |   4.2399  |    3.2490   |    0.5643   |
|     018-002     |   6.7611  |    2.6801   |    1.8785   |
|     018-003     |   7.8692  |    4.2129   |    1.8651   |
|     018-005     |   5.5706  |    3.3065   |    1.3788   |
|     018-006     |   4.7411  |    2.6578   |    1.3057   |
|     018-014     |   7.4923  |    2.7421   |    3.4963   |
|     018-015     |   7.5260  |    3.3585   |    3.4869   |
|     018-016     |   3.2585  |    1.9079   |    0.8200   |
|     018-017     |   4.0706  |    3.2457   |    0.8751   |
|     018-018     |   4.1791  |    2.7245   |    1.3214   |
|     Averages    |   4.2870  |    2.3966   |    1.3470   |
+-----------------+-----------+-------------+-------------+
miguelriemoliveira commented 2 years ago

I will call you to try to understand better the results. They look good I think...

manuelgitgomes commented 2 years ago

Cross-collection same sensor results:

Simulation:

top left camera:

+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|   000-001    |   0.5007  |    0.2764   |    0.3239   |  17.8170   |   0.9064  |
|   000-002    |   0.4100  |    0.1916   |    0.2639   |   4.6339   |   0.1799  |
|   000-003    |   0.3534  |    0.1891   |    0.1993   |   6.5397   |   0.1733  |
|   000-004    |   0.4803  |    0.2453   |    0.3206   |  11.8259   |   0.2906  |
|   000-005    |   0.9288  |    0.4523   |    0.5427   |   2.1201   |   0.3334  |
|   000-006    |   0.7137  |    0.4747   |    0.2770   |   6.9649   |   0.3154  |
|   000-009    |   0.9847  |    0.5619   |    0.5583   |   6.1956   |   0.4487  |
|   000-010    |   0.7620  |    0.5331   |    0.3373   |   4.0587   |   0.4117  |
|   000-011    |   0.8353  |    0.6131   |    0.3000   |   2.5532   |   0.4280  |
|   000-012    |   1.1799  |    0.8682   |    0.4983   |   4.8971   |   0.4567  |
|   000-014    |   0.4418  |    0.3012   |    0.1657   |   3.6675   |   0.4710  |
|   000-015    |   0.4677  |    0.2936   |    0.2122   |   4.8320   |   0.4375  |
|   000-016    |   0.2760  |    0.1691   |    0.1447   |   1.0317   |   0.4938  |
|   000-017    |   0.3284  |    0.2037   |    0.1622   |   3.5907   |   0.5315  |
|   000-018    |   0.4588  |    0.3103   |    0.2157   |   2.9154   |   0.5240  |
|   001-002    |   1.7090  |    1.6132   |    0.4068   |  13.7924   |   0.8951  |
|   001-003    |   2.0275  |    1.9806   |    0.2032   |  12.4877   |   0.7967  |
|   001-004    |   2.3488  |    2.2825   |    0.1722   |   9.5391   |   0.8311  |
|   001-005    |   4.0350  |    3.9586   |    0.5636   |  16.2017   |   0.9444  |
|   001-006    |   3.3937  |    3.3562   |    0.4091   |  14.0200   |   0.9828  |
|   001-010    |   4.0993  |    4.0509   |    0.2400   |  17.1420   |   0.8306  |
|   001-011    |   3.7148  |    3.6478   |    0.3049   |  15.5701   |   1.0026  |
|   001-012    |   4.5398  |    4.4616   |    0.2255   |  14.2902   |   1.1520  |
|   001-014    |   2.1401  |    2.0932   |    0.1890   |  19.6009   |   0.9336  |
|   001-015    |   2.0346  |    1.9945   |    0.1528   |  13.4078   |   1.0762  |
|   001-016    |   1.3838  |    1.3247   |    0.2430   |  18.0502   |   0.8688  |
|   001-017    |   1.3397  |    1.2996   |    0.1958   |  14.2361   |   0.9784  |
|   001-018    |   1.5584  |    1.3129   |    0.7130   |  14.9021   |   1.0025  |
|   002-003    |   0.4409  |    0.1937   |    0.2604   |   1.9613   |   0.1068  |
|   002-004    |   0.4984  |    0.2503   |    0.3453   |   7.2151   |   0.1301  |
|   002-005    |   1.3686  |    0.9998   |    0.5385   |   2.6590   |   0.1614  |
|   002-006    |   1.2203  |    1.0549   |    0.3445   |   3.1420   |   0.1584  |
|   002-009    |   1.6481  |    1.4979   |    0.3169   |   6.5394   |   0.2747  |
|   002-010    |   1.5255  |    1.4232   |    0.3524   |   3.6403   |   0.2442  |
|   002-011    |   1.5577  |    1.3855   |    0.4499   |   2.1611   |   0.2522  |
|   002-012    |   1.8598  |    1.5936   |    0.6105   |   5.0006   |   0.3148  |
|   002-014    |   1.2244  |    1.0981   |    0.2858   |   5.8711   |   0.2919  |
|   002-015    |   1.2147  |    1.0905   |    0.3527   |   3.6608   |   0.2754  |
|   002-016    |   1.1570  |    1.0865   |    0.2473   |   4.5258   |   0.3192  |
|   002-017    |   1.1343  |    1.0429   |    0.2734   |   2.3289   |   0.3516  |
|   002-018    |   1.4479  |    1.3591   |    0.2746   |   2.3374   |   0.3447  |
|   003-004    |   0.4690  |    0.2586   |    0.2591   |   5.2938   |   0.1399  |
|   003-005    |   1.5671  |    1.2667   |    0.5543   |   4.5652   |   0.2290  |
|   003-006    |   1.4450  |    1.3462   |    0.2561   |   2.1871   |   0.2388  |
|   003-009    |   2.6060  |    2.5201   |    0.3237   |   7.2048   |   0.3035  |
|   003-010    |   2.3752  |    2.2932   |    0.3121   |   4.6783   |   0.2556  |
|   003-011    |   2.1824  |    2.0773   |    0.3356   |   4.0166   |   0.3276  |
|   003-012    |   2.6049  |    2.4454   |    0.5122   |   6.4378   |   0.4152  |
|   003-014    |   1.7660  |    1.7066   |    0.2342   |   7.2463   |   0.3374  |
|   003-015    |   1.7397  |    1.6756   |    0.2787   |   4.9664   |   0.3651  |
|   003-016    |   1.6927  |    1.6515   |    0.1911   |   6.3255   |   0.3428  |
|   003-017    |   1.6707  |    1.6279   |    0.1959   |   4.0068   |   0.4031  |
|   003-018    |   2.2282  |    2.1788   |    0.2066   |   4.1936   |   0.4047  |
|   004-005    |   1.8532  |    1.7041   |    0.4957   |   9.8033   |   0.1177  |
|   004-006    |   1.6244  |    1.4800   |    0.3627   |   5.5774   |   0.1540  |
|   004-009    |   5.3323  |    5.2902   |    0.6642   |  11.1432   |   0.1806  |
|   004-010    |   4.8530  |    4.7680   |    0.7496   |   9.3846   |   0.1214  |
|   004-011    |   4.4796  |    4.4155   |    0.5765   |   9.3104   |   0.2101  |
|   004-012    |   5.4968  |    5.4169   |    0.6957   |  10.9228   |   0.3309  |
|   004-014    |   3.3142  |    3.2661   |    0.4138   |  12.0709   |   0.2001  |
|   004-015    |   3.2207  |    3.1796   |    0.3647   |   9.4435   |   0.2611  |
|   004-016    |   2.9914  |    2.9611   |    0.2565   |  11.5697   |   0.2098  |
|   004-017    |   2.9589  |    2.9299   |    0.2603   |   9.0466   |   0.2679  |
|   004-018    |   3.8916  |    3.8613   |    0.2488   |   9.3764   |   0.2747  |
|   005-006    |   0.9079  |    0.3434   |    0.4651   |   5.0015   |   0.0552  |
|   005-009    |   0.7734  |    0.4269   |    0.4011   |   5.7161   |   0.1867  |
|   005-010    |   1.1234  |    0.4120   |    0.6469   |   2.9337   |   0.1513  |
|   005-011    |   1.2291  |    0.5345   |    0.6781   |   1.0782   |   0.1231  |
|   005-012    |   1.1544  |    0.7460   |    0.7599   |   4.6942   |   0.2221  |
|   005-014    |   0.6847  |    0.4082   |    0.3403   |   3.9802   |   0.1542  |
|   005-015    |   0.6645  |    0.2839   |    0.4077   |   4.0013   |   0.1506  |
|   005-016    |   0.6827  |    0.4037   |    0.3143   |   2.0672   |   0.2069  |
|   005-017    |   0.6545  |    0.3295   |    0.3753   |   2.4552   |   0.2125  |
|   005-018    |   0.9246  |    0.5360   |    0.4312   |   1.7710   |   0.2108  |
|   006-009    |   2.4504  |    2.3074   |    0.5837   |   5.7682   |   0.2402  |
|   006-010    |   2.3503  |    2.2099   |    0.5645   |   3.8705   |   0.2048  |
|   006-011    |   2.2887  |    2.1335   |    0.5935   |   4.7177   |   0.1514  |
|   006-012    |   2.8800  |    2.6949   |    0.7974   |   8.1275   |   0.2041  |
|   006-014    |   2.0374  |    1.9541   |    0.4072   |   6.5405   |   0.2016  |
|   006-015    |   1.9790  |    1.8968   |    0.3767   |   6.7343   |   0.1485  |
|   006-016    |   2.1176  |    2.0583   |    0.3470   |   6.4578   |   0.2601  |
|   006-017    |   2.1151  |    2.0486   |    0.3532   |   5.4533   |   0.2538  |
|   006-018    |   2.9167  |    2.8482   |    0.3699   |   5.3717   |   0.2481  |
|   009-010    |   0.5788  |    0.3118   |    0.4692   |   2.9718   |   0.1009  |
|   009-011    |   0.9300  |    0.1918   |    0.7263   |   5.8798   |   0.1547  |
|   009-012    |   1.3637  |    0.6394   |    1.0749   |  10.2728   |   0.3161  |
|   009-014    |   1.1345  |    0.9990   |    0.2322   |   2.8910   |   0.0974  |
|   009-015    |   1.1177  |    0.8690   |    0.3939   |   9.4689   |   0.2383  |
|   009-016    |   1.7957  |    1.7098   |    0.2288   |   5.1712   |   0.0693  |
|   009-017    |   1.7298  |    1.6228   |    0.3160   |   7.7191   |   0.1345  |
|   009-018    |   2.5707  |    2.4169   |    0.4528   |   7.1392   |   0.1438  |
|   010-011    |   0.4883  |    0.2757   |    0.3031   |   3.0204   |   0.1842  |
|   010-012    |   0.9534  |    0.4589   |    0.6958   |   7.4396   |   0.3394  |
|   010-014    |   0.7749  |    0.6789   |    0.1479   |   2.6865   |   0.1140  |
|   010-015    |   0.6951  |    0.5993   |    0.2042   |   6.5387   |   0.2544  |
|   010-016    |   1.2487  |    1.1993   |    0.1313   |   3.1965   |   0.0969  |
|   010-017    |   1.1735  |    1.1176   |    0.1835   |   4.8058   |   0.1787  |
|   010-018    |   1.7632  |    1.6916   |    0.1939   |   4.2559   |   0.1996  |
|   011-012    |   0.7827  |    0.3370   |    0.5167   |   4.4384   |   0.1635  |
|   011-014    |   0.5097  |    0.3767   |    0.2093   |   4.3892   |   0.1073  |
|   011-015    |   0.4635  |    0.3276   |    0.1971   |   3.6140   |   0.0840  |
|   011-016    |   0.5904  |    0.4979   |    0.1707   |   2.4960   |   0.1764  |
|   011-017    |   0.5809  |    0.4717   |    0.2086   |   1.8724   |   0.1278  |
|   011-018    |   0.7334  |    0.5693   |    0.2655   |   1.2662   |   0.1066  |
|   012-014    |   0.6021  |    0.4284   |    0.2558   |   8.3196   |   0.2639  |
|   012-015    |   0.5562  |    0.4114   |    0.1844   |   1.5049   |   0.0886  |
|   012-016    |   0.8846  |    0.7630   |    0.2503   |   5.7193   |   0.3379  |
|   012-017    |   0.8718  |    0.7798   |    0.1896   |   2.8144   |   0.2646  |
|   012-018    |   1.5589  |    1.4073   |    0.4180   |   3.2023   |   0.2343  |
|   014-015    |   0.4045  |    0.1984   |    0.2211   |   7.8534   |   0.1779  |
|   014-016    |   0.7754  |    0.6975   |    0.1563   |   2.6771   |   0.0787  |
|   014-017    |   0.7072  |    0.5980   |    0.1893   |   6.2104   |   0.0697  |
|   014-018    |   1.1669  |    1.0096   |    0.2771   |   5.5157   |   0.0897  |
|   015-016    |   0.4599  |    0.3003   |    0.2165   |   5.4519   |   0.2537  |
|   015-017    |   0.4560  |    0.3335   |    0.1730   |   1.7697   |   0.1875  |
|   015-018    |   0.8854  |    0.6964   |    0.3657   |   2.3690   |   0.1635  |
|   016-017    |   0.3147  |    0.1623   |    0.1855   |   3.9827   |   0.1099  |
|   016-018    |   0.4040  |    0.2401   |    0.2293   |   3.2698   |   0.1379  |
|   017-018    |   0.3660  |    0.1901   |    0.2223   |   0.7260   |   0.0412  |
|   Averages   |   1.5499  |    1.3749   |    0.3530   |   6.2719   |   0.3150  |
+--------------+-----------+-------------+-------------+------------+-----------+

top right camera:

+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|   000-002    |   0.4965  |    0.3717   |    0.1674   |   0.5579   |   0.5850  |
|   000-003    |   0.6147  |    0.4477   |    0.1890   |   2.3882   |   0.6261  |
|   000-005    |   1.0795  |    0.8358   |    0.2109   |   1.5035   |   0.7908  |
|   000-006    |   0.7325  |    0.5631   |    0.2348   |   4.0672   |   0.6440  |
|   000-014    |   0.7851  |    0.5998   |    0.2853   |   5.4993   |   0.7756  |
|   000-015    |   0.7125  |    0.4776   |    0.3193   |   2.0188   |   0.7902  |
|   000-016    |   0.3759  |    0.2493   |    0.1452   |   3.5520   |   0.7262  |
|   000-017    |   0.4327  |    0.2815   |    0.2008   |   0.7357   |   0.8531  |
|   000-018    |   0.4965  |    0.3448   |    0.1970   |   0.5771   |   0.6928  |
|   002-003    |   0.3642  |    0.2029   |    0.1913   |   2.7141   |   0.0633  |
|   002-005    |   0.4976  |    0.3151   |    0.2162   |   1.8439   |   0.2548  |
|   002-006    |   0.4718  |    0.2300   |    0.2858   |   4.3510   |   0.1496  |
|   002-014    |   0.4436  |    0.2819   |    0.2210   |   5.0252   |   0.2336  |
|   002-015    |   0.5854  |    0.2316   |    0.3329   |   2.4665   |   0.2098  |
|   002-016    |   0.3235  |    0.1893   |    0.1819   |   3.0260   |   0.3629  |
|   002-017    |   0.4001  |    0.2307   |    0.2251   |   0.9698   |   0.2798  |
|   002-018    |   0.4516  |    0.3029   |    0.2059   |   0.6005   |   0.1209  |
|   003-005    |   0.7081  |    0.5155   |    0.2965   |   0.9605   |   0.2033  |
|   003-006    |   0.6145  |    0.4488   |    0.2558   |   1.8006   |   0.1042  |
|   003-014    |   0.8081  |    0.6880   |    0.1782   |   6.3748   |   0.1823  |
|   003-015    |   0.9727  |    0.8806   |    0.2794   |   2.8938   |   0.1796  |
|   003-016    |   0.8703  |    0.7921   |    0.1780   |   4.8857   |   0.3215  |
|   003-017    |   0.9393  |    0.8623   |    0.1640   |   2.2390   |   0.2306  |
|   003-018    |   1.3158  |    1.2103   |    0.2481   |   2.7210   |   0.0904  |
|   005-006    |   0.4876  |    0.2753   |    0.2486   |   2.5656   |   0.1492  |
|   005-014    |   0.6205  |    0.4122   |    0.2780   |   5.8330   |   0.0222  |
|   005-015    |   0.6391  |    0.3603   |    0.3051   |   2.4905   |   0.2124  |
|   005-016    |   0.5405  |    0.4186   |    0.1701   |   4.2117   |   0.2345  |
|   005-017    |   0.6304  |    0.4736   |    0.2451   |   1.5641   |   0.1127  |
|   005-018    |   0.8227  |    0.6492   |    0.2180   |   1.9294   |   0.2170  |
|   006-014    |   1.1507  |    1.0939   |    0.1833   |   7.0111   |   0.1348  |
|   006-015    |   1.2759  |    1.1349   |    0.3748   |   4.5655   |   0.2386  |
|   006-016    |   1.3180  |    1.2749   |    0.1879   |   5.9811   |   0.2177  |
|   006-017    |   1.3467  |    1.2959   |    0.2040   |   4.0177   |   0.2247  |
|   006-018    |   1.9084  |    1.8632   |    0.1807   |   4.4618   |   0.1754  |
|   014-015    |   0.5977  |    0.2650   |    0.3893   |   7.4807   |   0.1950  |
|   014-016    |   0.8645  |    0.7579   |    0.2177   |   2.1663   |   0.2433  |
|   014-017    |   0.9027  |    0.7120   |    0.3082   |   5.8090   |   0.1090  |
|   014-018    |   1.4214  |    1.1994   |    0.4227   |   5.5605   |   0.1956  |
|   015-016    |   0.5847  |    0.2875   |    0.3514   |   5.4606   |   0.4242  |
|   015-017    |   0.5615  |    0.2854   |    0.2968   |   1.7321   |   0.1422  |
|   015-018    |   0.8211  |    0.4128   |    0.4957   |   1.9517   |   0.1013  |
|   016-017    |   0.4172  |    0.2245   |    0.2208   |   3.8188   |   0.3424  |
|   016-018    |   0.5375  |    0.2999   |    0.2858   |   3.5107   |   0.3839  |
|   017-018    |   0.5155  |    0.2977   |    0.2665   |   0.5841   |   0.1967  |
|   Averages   |   0.7435  |    0.5677   |    0.2502   |   3.2551   |   0.3054  |
+--------------+-----------+-------------+-------------+------------+-----------+

top lidar:

Simulation w/anchor:

top left camera:

+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|   000-001    |   3.2398  |    2.5906   |    0.8393   |  123.2956  |   9.9390  |
|   000-002    |   1.1968  |    0.9020   |    0.3782   |  13.4839   |   1.7581  |
|   000-003    |   1.8604  |    1.4376   |    0.5439   |  22.3143   |   2.5258  |
|   000-004    |   4.3464  |    3.4495   |    1.1027   |  46.1938   |   3.9979  |
|   000-005    |   3.1252  |    2.3222   |    1.2491   |  29.1966   |   2.5790  |
|   000-006    |   3.6646  |    2.7297   |    1.3519   |  32.5750   |   3.3243  |
|   000-009    |   4.5742  |    3.7096   |    1.1860   |  11.9728   |   3.2736  |
|   000-010    |   3.6640  |    2.8909   |    0.3328   |  10.8591   |   2.7630  |
|   000-011    |   1.9024  |    1.2707   |    0.9240   |  19.8576   |   1.1323  |
|   000-012    |   2.0142  |    0.9361   |    1.3140   |  29.1377   |   0.5789  |
|   000-014    |   1.6188  |    1.2906   |    0.2004   |   5.2833   |   2.9761  |
|   000-015    |   0.8273  |    0.5555   |    0.4018   |  12.7348   |   0.6169  |
|   000-016    |   0.6764  |    0.5308   |    0.1507   |   6.4284   |   2.2794  |
|   000-017    |   0.9357  |    0.6954   |    0.4088   |  11.1984   |   1.0509  |
|   000-018    |   1.1578  |    0.5282   |    0.8397   |  12.3848   |   0.7542  |
|   001-002    |   7.2661  |    7.1793   |    0.4847   |  112.7188  |   8.8502  |
|   001-003    |   8.9721  |    8.6292   |    0.8357   |  106.7548  |   8.6266  |
|   001-004    |  10.8942  |   10.5114   |    1.1615   |  91.2467   |   8.4451  |
|   001-005    |  18.8712  |   18.3622   |    1.5287   |  109.3706  |   8.6602  |
|   001-006    |  19.0739  |   17.9315   |    1.9214   |  109.3382  |   8.4375  |
|   001-010    |  23.3975  |   22.8756   |    2.1771   |  129.3429  |   9.3307  |
|   001-011    |  20.4739  |   20.0227   |    1.7904   |  117.1121  |   9.3883  |
|   001-012    |  23.8451  |   23.3427   |    0.6207   |  108.8311  |   9.4391  |
|   001-014    |  12.4710  |   12.1330   |    0.7770   |  126.7159  |   9.0692  |
|   001-015    |  10.4752  |   10.2116   |    0.8207   |  112.4409  |   9.3358  |
|   001-016    |   7.9069  |    7.5608   |    0.4335   |  118.4478  |   9.3364  |
|   001-017    |   6.7870  |    6.5558   |    0.4293   |  112.2673  |   9.3426  |
|   001-018    |   8.7477  |    8.2683   |    0.9880   |  111.5241  |   9.3625  |
|   002-003    |   0.7888  |    0.5962   |    0.2738   |   8.8592   |   0.7862  |
|   002-004    |   2.9565  |    2.1322   |    0.7208   |  32.7375   |   2.2804  |
|   002-005    |   3.0692  |    2.6952   |    0.7152   |  17.0512   |   0.8503  |
|   002-006    |   3.7659  |    3.2971   |    0.8205   |  20.6384   |   1.5918  |
|   002-009    |  10.4318  |   10.2682   |    0.4047   |  24.2188   |   1.6907  |
|   002-010    |   8.4341  |    8.3226   |    0.7079   |  23.7955   |   1.3096  |
|   002-011    |   6.9515  |    6.7781   |    1.1235   |  26.5189   |   0.6762  |
|   002-012    |   7.1680  |    6.5943   |    1.4357   |  32.2128   |   1.7215  |
|   002-014    |   5.3152  |    5.2581   |    0.3356   |  18.5093   |   1.3967  |
|   002-015    |   4.2866  |    4.1878   |    0.4997   |  14.2974   |   1.3104  |
|   002-016    |   4.3705  |    4.3469   |    0.2605   |  13.4969   |   0.8888  |
|   002-017    |   3.8375  |    3.7497   |    0.4048   |   9.1630   |   2.2065  |
|   002-018    |   5.8959  |    5.8132   |    0.6246   |  11.3723   |   1.8661  |
|   003-004    |   1.8228  |    1.4574   |    0.5754   |  23.9098   |   1.4948  |
|   003-005    |   4.2157  |    4.0983   |    0.4795   |  10.1828   |   0.0830  |
|   003-006    |   4.9090  |    4.8295   |    0.4737   |  13.6545   |   0.8086  |
|   003-009    |  15.4696  |   15.3783   |    1.1898   |  32.5856   |   1.0063  |
|   003-010    |  13.6093  |   13.4797   |    1.6385   |  32.5781   |   0.8358  |
|   003-011    |  11.7549  |   11.4936   |    1.8530   |  33.6884   |   1.4042  |
|   003-012    |  12.9545  |   12.3947   |    1.7283   |  37.5181   |   2.5062  |
|   003-014    |   8.7901  |    8.7539   |    0.6119   |  27.3174   |   0.7552  |
|   003-015    |   7.6060  |    7.4881   |    0.7662   |  21.2100   |   2.0965  |
|   003-016    |   7.5346  |    7.5123   |    0.4573   |  21.9532   |   0.7183  |
|   003-017    |   6.9658  |    6.8936   |    0.4867   |  16.3656   |   2.9778  |
|   003-018    |  10.2794  |   10.2237   |    0.5640   |  18.1245   |   2.6457  |
|   004-005    |   6.3404  |    6.0494   |    0.8403   |  20.3903   |   1.4324  |
|   004-006    |   8.2088  |    8.1857   |    0.3193   |  19.0858   |   0.7095  |
|   004-009    |  29.9530  |   29.3638   |    5.9071   |  56.0209   |   0.9284  |
|   004-010    |  26.9929  |   26.5278   |    4.6602   |  56.2162   |   1.4514  |
|   004-011    |  24.0503  |   23.5373   |    4.0767   |  54.7688   |   2.8668  |
|   004-012    |  28.0363  |   27.4825   |    2.9971   |  55.3490   |   3.9998  |
|   004-014    |  17.8924  |   17.7764   |    1.9540   |  51.1002   |   1.1448  |
|   004-015    |  15.7828  |   15.6379   |    1.7081   |  42.9831   |   3.5903  |
|   004-016    |  15.2768  |   15.2145   |    1.3210   |  45.2372   |   1.8271  |
|   004-017    |  14.1016  |   14.0343   |    1.1530   |  38.9589   |   4.4631  |
|   004-018    |  19.9648  |   19.9382   |    0.7810   |  40.1365   |   4.1380  |
|   005-006    |   1.0036  |    0.6366   |    0.4403   |   3.6387   |   0.7480  |
|   005-009    |  16.9865  |   16.7585   |    2.5168   |  37.7103   |   0.9240  |
|   005-010    |  15.4863  |   15.0945   |    2.9826   |  39.7350   |   0.7671  |
|   005-011    |  14.1090  |   13.6014   |    3.0456   |  43.2334   |   1.4528  |
|   005-012    |  15.8066  |   14.8895   |    3.4838   |  47.5875   |   2.5718  |
|   005-014    |  11.1176  |   10.9804   |    1.5601   |  34.1523   |   0.6737  |
|   005-015    |  10.4267  |   10.2377   |    1.3839   |  30.8568   |   2.1603  |
|   005-016    |  10.7276  |   10.6387   |    1.2494   |  30.4454   |   0.6913  |
|   005-017    |  10.5948  |   10.4776   |    1.1271   |  25.8103   |   3.0482  |
|   005-018    |  15.5823  |   15.4408   |    1.5749   |  27.7896   |   2.7130  |
|   006-009    |  19.1655  |   18.8321   |    3.4126   |  40.6522   |   0.6493  |
|   006-010    |  17.1795  |   16.7870   |    3.5314   |  43.0549   |   0.9804  |
|   006-011    |  16.4102  |   16.0484   |    3.1684   |  46.7752   |   2.1958  |
|   006-012    |  17.7366  |   17.2021   |    3.2076   |  51.0196   |   3.3094  |
|   006-014    |  12.4426  |   12.2853   |    1.8875   |  37.4641   |   0.6706  |
|   006-015    |  11.7339  |   11.4979   |    1.7959   |  34.4416   |   2.9010  |
|   006-016    |  12.1823  |   12.0629   |    1.6160   |  33.9772   |   1.2424  |
|   006-017    |  12.0529  |   11.9081   |    1.4571   |  29.4188   |   3.7698  |
|   006-018    |  17.6589  |   17.4855   |    1.9738   |  31.3902   |   3.4420  |
|   009-010    |   1.4586  |    0.6388   |    1.1015   |   9.0171   |   0.5521  |
|   009-011    |   3.4011  |    2.0210   |    1.7566   |  24.9943   |   2.1564  |
|   009-012    |   9.7700  |    8.2023   |    4.8407   |  35.5166   |   3.3716  |
|   009-014    |   1.7188  |    1.3310   |    0.9522   |   8.3303   |   0.3019  |
|   009-015    |   3.3555  |    2.4959   |    1.5611   |  22.9978   |   2.9528  |
|   009-016    |   2.4278  |    1.8628   |    1.4003   |  16.4561   |   1.0030  |
|   009-017    |   3.5225  |    2.7141   |    1.8252   |  22.7212   |   3.8843  |
|   009-018    |   4.9252  |    3.2041   |    3.2677   |  23.5695   |   3.5288  |
|   010-011    |   2.4671  |    1.6549   |    1.2406   |  16.4180   |   1.6693  |
|   010-012    |   4.7320  |    3.4833   |    1.7284   |  27.1667   |   2.9078  |
|   010-014    |   1.8509  |    1.7983   |    0.2351   |   5.7274   |   0.3208  |
|   010-015    |   3.0027  |    2.6466   |    0.9283   |  17.3227   |   2.4904  |
|   010-016    |   3.2262  |    3.1492   |    0.5843   |  11.8485   |   0.4880  |
|   010-017    |   4.0486  |    3.8071   |    1.0809   |  18.9367   |   3.4407  |
|   010-018    |   5.3606  |    5.0332   |    1.5879   |  18.9298   |   3.0749  |
|   011-012    |   1.8869  |    1.4779   |    0.5839   |  10.8150   |   1.2470  |
|   011-014    |   2.6648  |    2.4056   |    0.4770   |  18.2601   |   1.8568  |
|   011-015    |   3.3384  |    3.2843   |    0.3641   |  12.6639   |   0.8365  |
|   011-016    |   5.0945  |    5.0436   |    0.3106   |  14.4576   |   1.1829  |
|   011-017    |   5.7039  |    5.6594   |    0.4785   |  17.7627   |   1.7987  |
|   011-018    |   8.2844  |    8.2567   |    0.3323   |  15.8983   |   1.4289  |
|   012-014    |   3.1780  |    2.6738   |    0.5642   |  28.4917   |   3.0708  |
|   012-015    |   3.6944  |    3.6146   |    0.5001   |  18.4535   |   0.4190  |
|   012-016    |   5.9946  |    5.8874   |    0.4771   |  22.9627   |   2.4245  |
|   012-017    |   6.6945  |    6.6485   |    0.6133   |  23.4681   |   0.5704  |
|   012-018    |   9.9355  |    9.8833   |    0.5359   |  21.2195   |   0.2265  |
|   014-015    |   1.6929  |    1.1775   |    0.6147   |  14.8523   |   2.6519  |
|   014-016    |   1.2218  |    1.1289   |    0.3169   |   8.3769   |   0.7165  |
|   014-017    |   2.1908  |    1.8475   |    0.7056   |  14.9843   |   3.5845  |
|   014-018    |   2.6561  |    2.1375   |    1.1331   |  15.5681   |   3.2278  |
|   015-016    |   0.9810  |    0.6978   |    0.3892   |   6.6364   |   2.0080  |
|   015-017    |   1.3981  |    1.3344   |    0.1741   |   5.2424   |   0.9624  |
|   015-018    |   1.7421  |    1.6456   |    0.3174   |   3.2409   |   0.5974  |
|   016-017    |   1.2075  |    0.9266   |    0.3608   |   7.1107   |   2.9626  |
|   016-018    |   1.2801  |    0.9291   |    0.5003   |   7.2911   |   2.5959  |
|   017-018    |   0.7185  |    0.5918   |    0.2108   |   2.3108   |   0.3842  |
|   Averages   |   8.2269  |    7.8603   |    1.2229   |  34.5748   |   2.7012  |
+--------------+-----------+-------------+-------------+------------+-----------+

top right camera:

+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
|   000-002    |   4.0194  |    3.5592   |    0.2058   |  15.0998   |   3.7944  |
|   000-003    |   4.8567  |    4.1568   |    0.2719   |  14.0625   |   4.8597  |
|   000-005    |   8.6744  |    7.4814   |    0.6040   |  19.3064   |   4.6957  |
|   000-006    |  11.5935  |   10.7240   |    0.5602   |  21.4955   |   4.9534  |
|   000-014    |   6.2061  |    5.7488   |    0.3748   |  35.4234   |   4.3748  |
|   000-015    |   3.8188  |    3.4805   |    0.4000   |   3.9965   |   2.4616  |
|   000-016    |   2.4814  |    2.1563   |    0.1413   |  12.6188   |   3.3982  |
|   000-017    |   1.6330  |    1.3141   |    0.3959   |   5.2774   |   2.2910  |
|   000-018    |   2.4744  |    1.6593   |    1.4057   |   3.1337   |   1.8998  |
|   002-003    |   0.8856  |    0.6723   |    0.2761   |   8.4680   |   1.3265  |
|   002-005    |   4.7759  |    4.4637   |    1.0669   |  14.4016   |   1.2151  |
|   002-006    |   5.5633  |    4.9597   |    1.5309   |  19.1238   |   1.6576  |
|   002-014    |   8.0223  |    7.9495   |    0.9094   |  46.9624   |   2.1582  |
|   002-015    |   6.5774  |    6.5100   |    0.5061   |  18.2624   |   1.4205  |
|   002-016    |   6.7552  |    6.7104   |    0.6470   |  24.2747   |   1.3547  |
|   002-017    |   6.3829  |    6.2997   |    0.2396   |  14.6029   |   2.1394  |
|   002-018    |   9.3020  |    9.1210   |    0.7387   |  13.9455   |   2.4437  |
|   003-005    |   3.5064  |    3.3497   |    0.8213   |   6.6688   |   0.2201  |
|   003-006    |   4.0910  |    3.7033   |    1.4514   |  11.0870   |   0.4744  |
|   003-014    |   6.8146  |    6.7084   |    1.0793   |  48.5828   |   1.6000  |
|   003-015    |   5.8479  |    5.6676   |    0.6131   |  16.2159   |   2.6764  |
|   003-016    |   6.0064  |    5.9195   |    0.8340   |  25.6874   |   1.6341  |
|   003-017    |   5.7003  |    5.5143   |    0.4106   |  10.6576   |   3.4534  |
|   003-018    |   8.2871  |    7.9516   |    0.6358   |  12.3841   |   3.7319  |
|   005-006    |   1.3759  |    0.7477   |    0.9619   |   5.1375   |   0.4679  |
|   005-014    |   6.5907  |    6.3235   |    1.7171   |  53.4210   |   1.5234  |
|   005-015    |   5.1965  |    4.8260   |    1.2625   |  20.5782   |   2.5332  |
|   005-016    |   6.2710  |    5.9858   |    1.7371   |  31.0090   |   1.4865  |
|   005-017    |   5.9047  |    5.6103   |    1.3028   |  14.8003   |   3.3190  |
|   005-018    |   8.4670  |    8.0889   |    1.2813   |  17.3766   |   3.5872  |
|   006-014    |   6.1640  |    5.6760   |    2.3058   |  54.4515   |   1.3099  |
|   006-015    |   4.6882  |    4.1831   |    1.6661   |  21.8878   |   2.9105  |
|   006-016    |   5.8408  |    5.3684   |    2.1645   |  32.8324   |   1.6241  |
|   006-017    |   5.0975  |    4.6348   |    1.8252   |  16.4908   |   3.7230  |
|   006-018    |   7.1917  |    6.6001   |    2.2005   |  19.4187   |   3.9685  |
|   014-015    |   2.1856  |    1.7020   |    0.3263   |  33.5218   |   2.8993  |
|   014-016    |   6.2244  |    6.1908   |    0.2006   |  23.1433   |   1.1418  |
|   014-017    |   7.5063  |    7.4175   |    0.2558   |  39.6525   |   3.7692  |
|   014-018    |  11.8641  |   11.5490   |    1.8599   |  36.4126   |   3.8977  |
|   015-016    |   0.9343  |    0.6104   |    0.3867   |  11.6697   |   1.7653  |
|   015-017    |   1.1948  |    1.0571   |    0.3038   |   6.1722   |   0.8705  |
|   015-018    |   2.0116  |    1.7611   |    0.7217   |   4.4018   |   1.0678  |
|   016-017    |   1.4512  |    1.1450   |    0.3146   |  17.3127   |   2.6329  |
|   016-018    |   2.8886  |    1.9371   |    1.6846   |  13.7142   |   2.7574  |
|   017-018    |   0.6939  |    0.3092   |    0.4870   |   4.3950   |   0.4152  |
|   Averages   |   5.2004  |    4.8334   |    0.9130   |  19.9897   |   2.3979  |
+--------------+-----------+-------------+-------------+------------+-----------+

top lidar:

Sarxell commented 2 years ago

intrinsic calibration:

top_right_camera:

D = [0.09444548483850039, 0.08669903425079252, 0.008863567020309267, 0.0033859867704945142, 0.0]
K = [822.1032663593196, 0.0, 329.4386958481072, 0.0, 824.1201819408151, 251.921984303044, 0.0, 0.0, 1.0]
R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P = [844.4584350585938, 0.0, 329.9258943954537, 0.0, 0.0, 843.83447265625, 253.8096377750917, 0.0, 0.0, 0.0, 1.0, 0.0]
# oST version 5.0 parameters

[image]

width
640

height
480

[narrow_stereo]

camera matrix
822.103266 0.000000 329.438696
0.000000 824.120182 251.921984
0.000000 0.000000 1.000000

distortion
0.094445 0.086699 0.008864 0.003386 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
844.458435 0.000000 329.925894 0.000000
0.000000 843.834473 253.809638 0.000000
0.000000 0.000000 1.000000 0.000000

top_left_camera:

D = [-0.21362436272051616, 0.18020415249494953, 0.0015658572570559476, 0.0029227972888911766, 0.0]
K = [1104.8029615581215, 0.0, 525.4654973641809, 0.0, 1105.6375008523155, 394.37369227290617, 0.0, 0.0, 1.0]
R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P = [1061.8524169921875, 0.0, 529.7178186612473, 0.0, 0.0, 1078.82470703125, 395.7505307813408, 0.0, 0.0, 0.0, 1.0, 0.0]
# oST version 5.0 parameters

[image]

width
964

height
724

[narrow_stereo]

camera matrix
1104.802962 0.000000 525.465497
0.000000 1105.637501 394.373692
0.000000 0.000000 1.000000

distortion
-0.213624 0.180204 0.001566 0.002923 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
1061.852417 0.000000 529.717819 0.000000
0.000000 1078.824707 395.750531 0.000000
0.000000 0.000000 1.000000 0.000000
miguelriemoliveira commented 2 years ago

Hi @Sarxell and @manuelgitgomes ,

the intrinsic calibration saves a file to ~/.ros which is the one that is read by ros when the camera is launched next.

Please copy these somewhere. For example, they could be in a folder inside the atlascar2 repo.

manuelgitgomes commented 2 years ago

Please copy these somewhere. For example, they could be in a folder inside the atlascar2 repo.

Hello! Ok, sure, inside atlascar2_description maybe. Tomorrow we will be to atlasPC and can copy them.

miguelriemoliveira commented 2 years ago

... and I think you could actually when launching the cameras point to these files as the ones to load the intrinsics...

manuelgitgomes commented 2 years ago

Hello! In the last bag file, these odometry results were obtained using a manual calibration. The pattern stays relatively put throughout the video. I will try the calibration using these parameters.

miguelriemoliveira commented 2 years ago

@manuelgitgomes the video looks really nice. I think we can get a reasonable calibration with this odometry ...

manuelgitgomes commented 2 years ago

Hello @miguelriemoliveira and @danifpdra! After a calibration, I found out the results were not successful. Here are the residuals:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    000     |     132.9022    |   0.6703  |     120.4928     |
|    001     |     128.0516    |   0.6734  |       ---        |
|    004     |     45.8367     |   0.6656  |     59.5594      |
|    005     |     56.6706     |   0.6166  |     56.3607      |
|    006     |     64.6444     |   0.6294  |     57.4787      |
|    007     |     79.5778     |   0.4759  |     41.1508      |
|    008     |     78.2218     |   0.4702  |     45.3504      |
|    009     |     89.9655     |   0.4805  |     51.4248      |
|    010     |     98.6385     |   0.4685  |     57.3424      |
|    011     |     110.6620    |   0.4442  |     65.9733      |
|    012     |     132.0085    |   0.4293  |     81.2637      |
|    013     |       ---       |   0.4779  |     64.8879      |
|    014     |       ---       |   0.5003  |     64.7215      |
|    015     |       ---       |   0.5199  |     52.2982      |
|    016     |       ---       |   0.5166  |     61.7641      |
|    017     |       ---       |   0.3944  |     59.6590      |
|    018     |       ---       |   0.2763  |     39.6136      |
|    019     |     34.6456     |   0.2362  |     48.4096      |
|    020     |     36.0074     |   0.2077  |     44.4430      |
|    021     |     36.8986     |   0.1918  |     49.1096      |
|    022     |     41.8499     |   0.1865  |     53.9808      |
|    023     |     45.0531     |   0.1564  |     65.2119      |
|    024     |     81.0994     |   0.1929  |     103.4901     |
|    025     |     46.5524     |   0.2639  |     54.4383      |
|    026     |     36.7844     |   0.2948  |     42.3174      |
|    027     |     35.6180     |   0.3078  |     44.8766      |
|    028     |     36.2815     |   0.3010  |       ---        |
|    029     |     33.8404     |   0.2930  |     47.9165      |
|    031     |       ---       |   0.6013  |     105.7301     |
|    032     |       ---       |   0.6207  |     92.0075      |
|    033     |       ---       |   0.6595  |     73.3223      |
|    034     |     181.0647    |   0.6731  |     66.0234      |
|    035     |     156.2657    |   0.7018  |     53.9365      |
|    036     |     119.8216    |   0.7244  |     46.5117      |
|    037     |     112.6953    |   0.7355  |     44.1948      |
|    038     |     97.8040     |   0.7185  |     45.5939      |
|    039     |     88.3285     |   0.6708  |     58.0849      |
|    040     |     105.9857    |   0.6691  |     65.6866      |
|    041     |     91.2861     |   0.7025  |     54.9289      |
|    042     |     100.5961    |   0.7193  |     47.5396      |
|    043     |     132.6626    |   0.7223  |     47.0661      |
|    044     |       ---       |   0.6937  |     61.2401      |
|  Averages  |     83.3850     |   0.4989  |     59.8850      |
+------------+-----------------+-----------+------------------+

And the RViZ visualization:

image

This visualization indicates an error in odometry, especially a large difference between the set of patterns on the left and the ones on the right. I believe I know the origin (or one of the origins) of this error. The way I edited the bag file was prone to failure. I ran the original bag file (without odometry) with the odometry estimator. While this was running, I recorded a bag file. This is prone to failure due to overloading the read/write speeds of my HDD and it was prone to breaks. These breaks would cause a miscalculation of the odometry. Do you have any better way to write a transformation to the bag file? I can try using the rosbag API. In fact, I have a similar code I used to rewrite the camera_info topic:

def main():
    input_bag = '/data/bagfiles/atlascar2/real_move_odom.bag'
    output_bag = '/data/bagfiles/atlascar2/real_move_odom_corrected.bag'

    with rosbag.Bag(output_bag, 'w') as outbag:
        for topic, msg, t in rosbag.Bag(input_bag).read_messages():
            new_msg = deepcopy(msg)
            if topic == "/top_right_camera/camera_info":
                new_msg.D = [0.09444548483850039, 0.08669903425079252, 0.008863567020309267, 0.0033859867704945142, 0.0]
                new_msg.K = [822.1032663593196, 0.0, 329.4386958481072, 0.0, 824.1201819408151, 251.921984303044, 0.0, 0.0, 1.0]
                new_msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
                new_msg.P = [844.4584350585938, 0.0, 329.9258943954537, 0.0, 0.0, 843.83447265625, 253.8096377750917, 0.0, 0.0, 0.0, 1.0, 0.0]
                outbag.write(topic, new_msg, t)
            else:
                outbag.write(topic, new_msg, t)

if __name__ == '__main__':
    main()
miguelriemoliveira commented 2 years ago

Hi @manuelgitgomes ,

the way you describe should work, not perfect but it should work better than the very large errors you are getting.

Why not launch the odometry estimator while running the bag file for taking a collection?

Rosapi would be a better but more long path I think...

manuelgitgomes commented 2 years ago

the way you describe should work, not perfect but it should work better than the very large errors you are getting.

The errors are noticeable, severely more than the ones shown in the video. So I think these errors are expected.

Why not launch the odometry estimator while running the bag file for taking a collection?

This sounds like a good idea, I will try it tomorrow!

miguelriemoliveira commented 2 years ago

OK, great. If you want we can also talk a bit by phone. How about the presentation?

manuelgitgomes commented 2 years ago

OK, great. If you want we can also talk a bit by phone. How about the presentation?

I don't think the talk is needed. However, if you want, we can do it. Today I focused on having these results. I'm finishing the script, however.

manuelgitgomes commented 2 years ago

Why not launch the odometry estimator while running the bag file for taking a collection?

After using this suggestion, the results were better, but far from perfect;

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    001     |       ---       |   0.0298  |      5.0612      |
|    002     |      6.6152     |   0.0572  |      3.4812      |
|    003     |      6.6120     |   0.0373  |      3.3669      |
|    004     |      9.5541     |   0.0561  |      4.6275      |
|    005     |     13.0987     |   0.0631  |      7.4874      |
|    006     |     20.0363     |   0.0858  |     12.6439      |
|    007     |     25.8887     |   0.0742  |     19.1412      |
|    008     |     28.1959     |   0.0657  |      9.1676      |
|    009     |     35.0359     |   0.0909  |     10.7178      |
|    010     |       ---       |   0.1127  |     16.9108      |
|    011     |       ---       |   0.0979  |     10.0206      |
|    012     |       ---       |   0.0668  |     16.0472      |
|    013     |       ---       |   0.0805  |      6.7470      |
|    014     |       ---       |   0.1145  |     14.8523      |
|    015     |       ---       |   0.1292  |     21.4358      |
|    016     |     20.3795     |   0.1517  |     17.1974      |
|    017     |     16.5551     |   0.1123  |     11.3536      |
|    018     |      8.1671     |   0.0729  |      6.4050      |
|    019     |      4.1894     |   0.0423  |      7.5656      |
|    020     |      9.4526     |   0.0272  |      5.5428      |
|    021     |      2.0765     |   0.0154  |       ---        |
|    022     |      2.2885     |   0.0136  |       ---        |
|    023     |      8.1422     |   0.0229  |       ---        |
|    024     |      4.1264     |   0.0257  |       ---        |
|    025     |      7.1046     |   0.0232  |       ---        |
|    026     |      7.4477     |   0.0211  |       ---        |
|    027     |     12.3743     |   0.0441  |       ---        |
|    028     |      9.0585     |   0.0213  |       ---        |
|    029     |      4.8128     |   0.0276  |     19.5635      |
|    030     |      3.7278     |   0.0431  |       ---        |
|    031     |       ---       |   0.0864  |     10.0881      |
|    032     |       ---       |   0.1478  |     13.3757      |
|    033     |       ---       |   0.1666  |     14.5309      |
|    034     |     27.1003     |   0.1852  |     14.6379      |
|    035     |     29.7136     |   0.1975  |     16.7201      |
|    036     |     28.5567     |   0.1850  |     15.8124      |
|    037     |     32.3748     |   0.1990  |     16.8553      |
|    038     |     34.2579     |   0.2161  |     18.0808      |
|  Averages  |     14.8908     |   0.0845  |     12.0496      |
+------------+-----------------+-----------+------------------+

With the following RViZ visualization: image

These results show still the different small odometry displacements can have on the calibration. I can try to retune it manually, as it seems the linear velocity is accurate, having inaccuracies only in angular velocities. I can also move to an odometry calibration tool in atom, which will be a larger work. I think I prefer to try a retune. If it does not work, then I can do the calibration tool.

I will try to focus the rest of today on the presentation, so I can do this tomorrow or during the weekend.

All the datasets used are already on lars, if you want to try it for yourselves.

manuelgitgomes commented 2 years ago

Visual odometry tool created using ICP. Results coming tonight or tomorrow.

miguelriemoliveira commented 2 years ago

Great news!

manuelgitgomes commented 1 year ago

Sorry for the delay. First visual odometry results:

+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
|    001     |       ---       |   0.0103  |      2.7563      |
|    003     |      6.7774     |   0.0096  |      1.2495      |
|    004     |      4.0773     |   0.0105  |      2.0559      |
|    005     |      3.9159     |   0.0085  |      2.2760      |
|    006     |      3.2790     |   0.0100  |      1.6496      |
|    007     |      2.0665     |   0.0100  |      1.3092      |
|    008     |      3.1203     |   0.0092  |      0.9522      |
|    009     |      5.9876     |   0.0106  |      3.8814      |
|    010     |       ---       |   0.0100  |      1.5831      |
|    011     |       ---       |   0.0114  |      1.8442      |
|    012     |       ---       |   0.0106  |      2.9467      |
|    013     |       ---       |   0.0098  |      2.7943      |
|    014     |       ---       |   0.0131  |      3.1695      |
|    015     |       ---       |   0.0109  |      4.3474      |
|    016     |      2.5169     |   0.0099  |      2.3851      |
|    017     |      2.4150     |   0.0105  |      2.3770      |
|    018     |      3.3534     |   0.0111  |      2.6282      |
|    019     |      2.3592     |   0.0112  |      2.3401      |
|    020     |      3.4652     |   0.0097  |      4.0052      |
|    021     |      5.6373     |   0.0111  |       ---        |
|    022     |      2.7643     |   0.0094  |       ---        |
|    023     |      3.6247     |   0.0114  |       ---        |
|    024     |      2.7580     |   0.0097  |       ---        |
|    025     |      3.1797     |   0.0100  |       ---        |
|    026     |      2.8140     |   0.0095  |       ---        |
|    027     |      2.4327     |   0.0088  |       ---        |
|    028     |      2.1992     |   0.0117  |       ---        |
|    029     |      2.3798     |   0.0088  |      3.3517      |
|    030     |      1.3417     |   0.0109  |       ---        |
|    031     |       ---       |   0.0202  |      1.6913      |
|    032     |       ---       |   0.0159  |      0.9254      |
|    033     |       ---       |   0.0119  |      1.3109      |
|    034     |      4.5533     |   0.0096  |      1.3188      |
|    035     |      5.3327     |   0.0094  |      2.2938      |
|    036     |      6.8277     |   0.0090  |      3.3884      |
|    037     |      7.7863     |   0.0100  |      4.7686      |
|    038     |      7.4249     |   0.0089  |      1.6625      |
|  Averages  |      3.8663     |   0.0106  |      2.4022      |
+------------+-----------------+-----------+------------------+

These results are a lot better than others presented. The lidar points are well-aligned, as can be seen here;

image

The presented error now is noticeable in some camera collections. Is it reasonable to say the error derived from odometry has been sufficiently diminished and now a new source of error needs to be found? I can try calibrating without some of the outlier collections, I do not know how feasible that would be.

miguelriemoliveira commented 1 year ago

Hi @manuelgitgomes,

The presented error now is noticeable in some camera collections. Is it reasonable to say the error derived from odometry has been sufficiently diminished and now a new source of error needs to be found? I can try calibrating without some of the outlier collections, I do not know how feasible that would be.

It is possible to run the calibration ignoring some collections, for that you use the -csf (collection selection function) argument. However, I cannot see in the table collections which are much worse than others, so I am not sure which collection you would take away ...

About the other question, you first have to characterize what you called visual odometry. Is it the one based on Lidar? Because visual odometry is usually a term used for odometry using rgb images. If its the lidar was it with ICP? How much was the error after the ICP iterations?

manuelgitgomes commented 1 year ago

Hello!

However, I cannot see in the table collections which are much worse than others, so I am not sure which collection you would take away ...

I took off some collections and the residuals did not suffer any discernible difference.

Because visual odometry is usually a term used for odometry using rgb images.

Sorry! I was talking about the ICP one. The error was low, around 7e-2/8e-2. I will create a test dataset and run some evaluations.

miguelriemoliveira commented 1 year ago

Hi @manuelgitgomes ,

can we talk a bit this afternoon? There is an idea I would like to share ...

manuelgitgomes commented 1 year ago

Sure, what time? I'm available after 15

miguelriemoliveira commented 1 year ago

OK, I can call you at 15h.

On Wed, Jul 27, 2022 at 1:02 PM Manuel Gomes @.***> wrote:

Sure, what time? I'm available after 15

— Reply to this email directly, view it on GitHub https://github.com/lardemua/atlascar2/issues/41#issuecomment-1196638490, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACWTHVRWX5D7JLET3VDQ2E3VWEQN5ANCNFSM5WHSYNTA . You are receiving this because you were mentioned.Message ID: @.***>