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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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[pcl::SampleConsensusModel::getSamples] Error #32

Open AlexGhenno opened 4 years ago

AlexGhenno commented 4 years ago

Hi,

I'm trying to calibrate a thermal camera with a Velodyne VPL 16. While running the coarse calibration I'm getting the following error:

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

Do you have an idea of what the problem could be? thanks

martin-velas commented 4 years ago

Hi, see other issues - e.g. https://github.com/robofit/but_velodyne/issues/27 M.

AlexGhenno commented 4 years ago

Hi, thanks for your reply. I could solve some issues similar to those in #27. The visible pointcloud is the following

visible_cloud

but the same error appears later. This is the visible point cloud after the threshold filtering

threshold

Do you think there aren't enough points at the border of the circles so that they can be detected?

AlexGhenno commented 4 years ago

I could solve the problem, the borders of the marker were not completely removed, plus my input pointcloud had two additional straight line patterns which caused the error. Now the pointcloud looks like this

12

and the circle detection like this

13

Now I get results from the fine calibration but they do not seem correct. This is a coloured pointcloud I get when using the camera image below

coloured_pointcloud

thermo_marker

What I don't understand is why the last tree elements in the resulting 6DoF vector are almost zero. Do you have any suggestion to improve this result?

Thanks