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xmba15 / automatic_lidar_camera_calibration

auto-calibration of lidar and camera based on maximization of intensity mutual information
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problem while running ./build/examples/sensors_calib_app #1

Open callmebylxh opened 3 years ago

callmebylxh commented 3 years ago

After filingl absolute paths to the files in calibration_handler_param.json， I run the examples by " ./build/examples/sensors_calib_app ./data/samples/calibration_handler_param.json" , but the terminal says "number of images and point clouds must be the same". The variable value is "imagePaths.size()= 10243 pointcloudPaths.size()= 32043" by printed in terminal.

absolute paths filled in calibration_handler_param.json is as follows: "path_to_initial_guess": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/initial_guess.json", "path_to_images": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/image.png", "path_to_point_clouds": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/pointcloud.pcd", "path_to_camera_info": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/camera_info.json",

Could you help me slove this problem ,Thanks.

Molocks commented 3 years ago

I meet the same problem.

Molocks commented 3 years ago

After filingl absolute paths to the files in calibration_handler_param.json， I run the examples by " ./build/examples/sensors_calib_app ./data/samples/calibration_handler_param.json" , but the terminal says "number of images and point clouds must be the same". The variable value is "imagePaths.size()= 10243 pointcloudPaths.size()= 32043" by printed in terminal.

absolute paths filled in calibration_handler_param.json is as follows: "path_to_initial_guess": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/initial_guess.json", "path_to_images": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/image.png", "path_to_point_clouds": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/pointcloud.pcd", "path_to_camera_info": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/camera_info.json",

Could you help me slove this problem ,Thanks.

你可以根据ＨOW TO RUN中步骤２提示创建两个存放目录的文件，如images.txt and point_clouds.txt，把图片和pcd文件的绝对路径保存在这两个txt文件中，然后在calibration_handler_param.json中把上述两个txt文件的绝对路径写进去即可。 "path_to_images": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/images.txt", "path_to_point_clouds": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/point_clouds.txt",

Yangbit666 commented 1 year ago

你好，请问您知道这个项目在哪儿修改相机distortion参数吗？我只找到了修改相机intrinsic矩阵的地方