Lidar point projections are wrong about cam_lidar_calibration HOT 3 CLOSED

Hi @Sheradil ,

The presence of wrapping on the sharp edges suggests that the issue lies in the intrinsic calibration of the camera. The point cloud wrapping is not affected by the extrinsic calibration, which only involves rotation and translation. However, the intrinsic parameters determine the distortion of the camera lens. I recommend verifying that the camera_info topic contains the accurate camera model and correct values. It is advisable to double-check these details.

If you are currently utilizing our master branch, it could potentially be the source of the issue. Please note that the calib-v2 branch, which is presently undergoing testing, incorporates the camera model into the final projection.
if (distortion_model == "fisheye")
An easy fix is to replace the assess_calibration.cpp with the one in the calib-v2 branch.

from cam_lidar_calibration.

Hi @chinitaberrio and thanks for your quick response.

I asked one of the project partners and he told me that, indeed, the published camera model is wrong. The lens that we used was a fish-eye lens and not a plumb_bob model. And if the model of the camera_info topic is incorrect, then the camera matrix and the distortion coefficients will most likely be wrong as well.

For now I replaced the assess_calibration.cpp with the one of the calib-v2 branch. I'm waiting for the camera to arrive and will try again with calibrated values.

I do have 2 more questions:

1. Can you summarize which changes you made to the calib-v2 branch?
2. Do you have plans to change the board detection method so that it doesn't need the ring values (or is it already done in the v2 branch). I ask, because for another project we will use a lidar sensor (livox horizon) that does not provide ring values and they can't be added, because the sensor has a unique scan pattern.

from cam_lidar_calibration.

Hi @Sheradil

1. Find here branch #36 (comment) the changes to the calib-v2.
2. Not yet, but I have seen some colleagues changing the board extraction method to get the features needed for the calibration.

from cam_lidar_calibration.