Comments (6)
yuconglin
commented on August 13, 2024
2
Thanks for replying. I figured it out too. Thanks again for making the repo public. I learned a lot.
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jun-zhang-cyngn
commented on August 13, 2024
The problem comes from here
It looks like we have an underdetermined system.
cv::solve(matA, matB, matX, cv::DECOMP_QR);
matA:
[4668.396019965554, 762.2615729792876, 443.5128503180619, 25.7672809111645, -50.61608196270411, -170.2821341374004, 0, 0, 0, 0, 0, 0;
762.2615729792853, 5517.516799518293, 331.9476116036997, 13.71723803017447, 36.60771030027582, -285.2359537322813, 0, 0, 0, 0, 0, 0;
443.5128503180659, 331.9476116037035, 1141.239173941337, 57.1814471478689, 14.49662191019416, -18.02984394798824, 0, 0, 0, 0, 0, 0;
25.76728091116443, 13.71723803017436, 57.18144714786875, 4.913689564802027, 1.673394500703981, 0.1322514847335978, 0, 0, 0, 0, 0, 0;
-50.61608196270406, 36.60771030027578, 14.49662191019422, 1.673394500703978, 5.185042253110018, -0.7509567169207, 0, 0, 0, 0, 0, 0;
-170.2821341374004, -285.2359537322811, -18.02984394798815, 0.1322514847335943, -0.7509567169207013, 24.62999979983148, 0, 0, 0, 0, 0, 0;
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
matB:
[20.99431487687908;
90.8448330263231;
-0.971213307257915;
1.655736040733197;
-0.4554962466367958;
-6.108141842074613;
-0;
-0;
-0;
-0;
-0;
-0]
matX:
[-nan;
-nan;
-nan;
-nan;
-nan;
-nan;
-nan;
-nan;
-nan;
-nan;
-nan;
-nan]
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samsdolphin
commented on August 13, 2024
Hi @jun-zhang-cyngn, sorry for my late reply. I am not sure if you have solved this issue. In our latest project here, we choose Eigen to solve the AX=b function. Hope this helps.
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yuconglin
commented on August 13, 2024
I came across the same issue.
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yuconglin
commented on August 13, 2024
yuconglin@e9b0ab1 I fixed in my forked branch. At least it can run through now. It looks like current main branch only support calibrating a single LiDAR's extrinsic.
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samsdolphin
commented on August 13, 2024
yuconglin@e9b0ab1 I fixed in my forked branch. At least it can run through now. It looks like current main branch only support calibrating a single LiDAR's extrinsic.
Hi @yuconglin, our extrinsic_refine currently only supports calibrating one extrinsic at once, so if you have multiple LiDARs, you need to execute this launch file multiple times. But our global_refine accepts multiple extrinsics so that you could copy and paste them all together.
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Related Issues (20)
- Livox Mid-70 and IMU Calibration HOT 1
- camera_calib std::bad_alloc HOT 1
- Extrinsic refine - NaN residual HOT 1
- !std::isnan(residual2) HOT 5
- Pose_refine reported the following error: Assertion `!std::isnan(residual2)' HOT 2
- Question about lidar-camera extrinsic calibration problem and how to build residuals.
- calibration of a camera and a lidar
- NAN observed after solving AX=B, leading to failure when optimizing extrinsics HOT 3
- judge_eigen HOT 1
- Does it support calibration of a small FoV lidar and a spinning (360 horizontal FoV) Lidar? HOT 4
- Thank you very much for adding calibration for a single camera and radar. I encountered the following error HOT 7
- The PCD obtained by velodyne16 does not seem to yield good voxels HOT 10
- camera lidar
- Cameras Calib: FoV Check not passed and pts_3d empty HOT 3
- Is intensity field used?
- extrinsic refine did not work in my pc!
- MID360 and camera calibration HOT 1
- Expected Results with your data? HOT 1
- Results of the same data vary a lot from different initial extrinsics between camera and lidar HOT 3
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