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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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Coarse calibration is far off #30

Open anne-men opened 5 years ago

anne-men commented 5 years ago

Hi, Currently, I am implementing your method to do the calibration of a RGB and depth camera in a Intel Realsense camera. I do this by following your article and the file but_velodyne/blob/master/but_calibration_camera_velodyne/src/calibration-node.cpp. Unfortunately, at the moment my estimated values for the translation in the coarse calibration are far off ([-62.17045574 21.37521807 325.99636285] while the Realsense provides me ([0.014840582385659218, 0.00022804923355579376, 0.00028663864941336215]). Do you by any chance know what can cause this? I taught, maybe it has something to do with scaling. Where in the code do you for example use the radius of, and the distance between the physical circles?

Thanks a lot!

Greetings, Anne-Men

martin-velas commented 5 years ago

Hi, I have never encountered this problem. But, the radius/distances are set in https://github.com/robofit/but_velodyne/blob/master/but_calibration_camera_velodyne/conf/calibration.yaml Cheers, Martin