Closed miguelriemoliveira closed 4 years ago
BTW, I ran like this:
roslaunch interactive_calibration agrob_calibration.launch bag:=/home/mike/bagfiles/agrob/agrob_calibration_2020-05-20-12-2/calibration_2020-05-20-12-25-58_0.bag
Hi @miguelriemoliveira
Yes, we had that problem with the topics last time. I fixed the issue this time. I committed the changes to agrob and atlascar right now.
Hi @miguelriemoliveira and @eupedrosa
Apart from the dimensions, that I can measure, are these parameters correct for the charuco that I used yesterday?
"calibration_pattern" : {
"link": "chessboard_link",
"parent_link": "base_link",
"origin": [-0.37, 0.0, 0.0, 0, 0.0, 3.8],
"fixed": false,
"pattern_type": "charuco",
"dictionary": "DICT_5X5_100",
"border_size": 0.03,
"dimension": {"x": 11, "y": 8},
"size": 0.06,
"inner_size": 0.045
}
I'm trying to create a dataset, but the pattern detections are unstable...
You have the "x" and "y" swapped... EDIT: sorry.. no you do not have them swap....
@aaguiar96, did you used a ruler to measure the size
and inner_size
?
@aaguiar96, did you used a ruler to measure the
size
andinner_size
?
Yes, but I also saw from calib.io that the square size is 60mm.
Thanks.
On Thu, May 21, 2020, 09:46 André Aguiar notifications@github.com wrote:
Hi @miguelriemoliveira https://github.com/miguelriemoliveira
Yes, we had that problem with the topics last time. I fixed the issue this time. I committed the changes to agrob and atlascar right now.
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@miguelriemoliveira,
Can you execute the system to see the detections? Do you think that is good enough?
The pattern is far away from the cameras. Next bag file if you can bring it closed. Also the illumination sometimes creates reflections which hamper the detection.
I tweked a bit with the aruco detector's parameters. Now we can get detect about 50% of the time.
Thanks @miguelriemoliveira
I'll try to save a dataset.
Yes,
4ea46400a2209b5a2436377ddabbfbe76e3b6b76
Hi @miguelriemoliveira and @eupedrosa
I was able to record a dataset with 19 collections. Check it out! :)
Hi,
Great!
Can you tell me how many collections have all 3 sensors detected?
On Thu, May 21, 2020, 15:21 André Aguiar notifications@github.com wrote:
Hi @miguelriemoliveira https://github.com/miguelriemoliveira and @eupedrosa https://github.com/eupedrosa
I was able to record a dataset with 19 collections. Check it out! :)
agrob_second_dataset.zip https://github.com/lardemua/AtlasCarCalibration/files/4662894/agrob_second_dataset.zip
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All of them, I think! :)
Yes, all you them!
It looks great. Now you can really test the optimization.
If you need help with something let me know.
@aaguiar96, why is the data_collected.json
so large (22MB)?
Do you save the (complete) velodine data?
Hi @eupedrosa ,
yes, by design we save the complete sensor data, besides de labels.
Should we follow the same strategy as the images? save on a separate file?
We could. I thought of saving into pcl or ply. It would have to be a format we could read by itself.
The bottomline was, nobody had time to work on it ...
Regards, Miguel
On Thu, 21 May 2020 at 16:07, Eurico F. Pedrosa notifications@github.com wrote:
Should we follow the same strategy as the images? save on a separate file?
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PLY is a good format. I like that idea.
The bottomline was, nobody had time to work on it ...
I volunteer @aaguiar96 ...
I volunteer @aaguiar96 ...
Ahahah, sure, I'll work on it (https://github.com/lardemua/AtlasCarCalibration/issues/155)
:D
Hi @aaguiar96 ,
I was really anxious to try out the new bag file.
I ran but could not see the images.
Did you change the topic names? Perhaps you need to fix the playback republish topics?
Thanks for the help, Miguel