Comments (4)
Saying the conclusion, it's possible for ILCC to process the chessboard with some white border. Check #3 for example.
The process of 3D corner detection can be broke into two steps: 1. detect the chessboard from the scene point cloud, 2. fit the chessboard model to the detected chessboard point cloud for 3D corner detection.
The white border affects the size of chessboard and further affect step 1. However, the tolerance range in this step is 0.8~1.6 times of the value pattern_side_size*pattern_number. It means that if the width of the white border is less than (1.6-1)*pattern_side_size*pattern_number/2, step 1 should be done well. (Check Line 484-485 in pcd_corners_est.py for details).
from ilcc.
Thanks for your detailed reply.
What you said is the affect of detect chessboard
, that's fine. I wonder it also affect the cost function. In your paper, Figure 8b
, when a real
chessboard point falls out of the current optimized chessboard region
, there will be a cost. However, when there is a white border around the chessboard, points on the white border
will be assumed to be real
chessboard points, which introduce error.
Correct me if I am wrong, Thanks!
from ilcc.
Your concern is right, the points on the white border
would introduce error during the optimization of the chessboard model.
However, if the white border is symmetrically assigned, which means the center of the board coincides with the center of the chessboard, loosely speaking,the optimized pose
of the chessboard should not change (just the absolute value of the loss is increased due to the white margin). Furthermore, after the process in Fig.6, the initial pose is supposed to be very near to the optimal pose. So, I think ILCC should also work with white margins, especially if the white boarder area is not that large.
Of course, a strict mathematical proof is necessary to give a detailed boarder of the noise and accuracy. By the way, only checking the points that fall in the chessboard region for loss calculation maybe another approach for the chessboards with white margins. If you are interested, you are appreciated to give a contribution.
from ilcc.
Thanks for your reply!
from ilcc.
Related Issues (20)
- Config file error : PyYAML yaml.load(input) Deprecation
- IndexError: too many indices for array in PCD corner detection HOT 2
- Problem for your squeezeSeg-Pytorch Repo
- Problem with visualisotion. HOT 1
- Sample data
- Checkerboard corner estimation HOT 1
- pcd_corners_est.detect_pcd_corners() stalls HOT 4
- Question on Camera and LiDAR Type HOT 2
- question about the cost function
- Example error HOT 1
- Chessboard mounting HOT 3
- re-projection error HOT 1
- re-projection error HOT 7
- Issue of matlab HOT 1
- ILCC could only be used in panoramic images? HOT 1
- Corner detection from point clouds is frozen? HOT 1
- LiDAR data reading HOT 1
- Can this method be used to calibrate a 360 camera like an insta360 to a lidar? HOT 1
- Looking for support to install python-pcl and and run pcd_corners_est.detect_pcd_corners() on Ubuntu 22.04 HOT 1
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from ilcc.