up2metric / cam2lidar

We utilize sensors, such as camera and lidar, in order to acquire information of our environment. Fusion of data from sensors allows you to identify objects in a scene. Cam2lidar converts data from these 2 sensors into the same coordinate system.
https://www.mdpi.com/1424-8220/22/15/5576/pdf?version=1658889926
Apache License 2.0
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I did not understand parameter #5

Closed ahmetyuce526 closed 1 month ago

ahmetyuce526 commented 6 months ago

in the config parameter , you are telling , write these # Geometric calibration reproj_error: 8 intensity_thres: 200 distance_from_prev: 100 horizontal_dimension: 1920 vertical_dimension: 1080 grid_horizontal_division: 5 grid_vertical_division: 5

I think you have to little bit explain more I dont know where I find these value for example (grid_horizontal_division/grid_vertical_division: Shape of grid, in order to have one measurement per rectangle) , I did not understand anything about that , I am outsider of cv field. How can I measure or find. and I also get this error " File "/opt/ros/noetic/lib/python3/dist-packages/rospy/service.py", line 116, in register raise ServiceException(err) rospy.service.ServiceException: service [/parameters_set] already registered Traceback (most recent call last): File "/root/catkin_ws/src/cam2lidar/src/user_interface.py", line 62, in calibrate "
and this "tmp/pip-install-nn5gewsb/apriltag/core/contrib/apriltag_quad_contour.c:467: warning: count < 8 :( "

monikaskawka commented 6 months ago

Hello @ahmetyuce526,

The grid_horizontal_division/grid_vertical_division parameters divide the image into a (grid_horizontal_division) x (grid_vertical_division) grid. If you would like to find out more about the implemented algorithm, you can read our paper, An Effective Camera-to-Lidar Spatiotemporal Calibration Based on a Simple Calibration Target [pdf].

The rospy.service.ServiceException usually appears when you attempt to modify the Distance Threshold and Consequent Frame parameters via the user interface after clicking the Start button. To begin the procedure, you must first select the Distance Threshold and Consequent Frame parameters and then click Start.