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robofit / but_velodyne

ROS packages for Velodyne 3D LIDARs provided by Robo@FIT group.
GNU Lesser General Public License v3.0
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Circles not found in both Image and PointCloud Data #25

Open ssingh82 opened 6 years ago

ssingh82 commented 6 years ago

@but-spanel I believe that I am providing the right set of inputs on three topics:

1) Camera info - With the Right intrinsics and Projection matrix of Camera I am using 2) Image frame - USB Cam ROS package's Raw Image topic 3) Point Cloud from the Velodyne Driver -> / Velodyne_points 4) Circle Distance: 0.29 5) Circle Size: 0.10

But the calibration is always failing for me. Moreover, when I run the package, circles on calibration board are not found in both the image and the point cloud data. I even start receiving few errors like:

[pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 0! [pcl::RandomSampleConsensus::computeModel] No samples could be selected! [pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 0! [pcl::RandomSampleConsensus::computeModel] No samples could be selected! [pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 0! [pcl::RandomSampleConsensus::computeModel] No samples could be selected!

I check the saved frame and pointcloud data. The image frame is clear and the pointcloud has many points.

martin-velas commented 6 years ago

Try to visualize the data which are processed by RANSAC - are the points capturing the marker there?