ehong-tl / camera_2d_lidar_calibration Goto Github PK

Hello, I'm using your code.

The following error occurs in roslaunch camera_2d_lidar_calibration reproduction.launch.

camera_topic : /usb_cam/image_raw/compressed
lidar_topic : /scan

I am attaching the calibration result below and the yaml file as well.

Please reply quickly. Thank you.

@ehong-tl Hi, thank you for your excellent work. Could you please explain the principle of your calibration or the paper you refer to ? I'm a novice and I don't know about this.

Can I produce pointcloud2 data and publish it from the steps taken in the reprojection.py file, especially in the def callback function?

If I understand correctly, pointcloud data is already generated here:
"cloud = lp.projectLaser(scan)
points = pc2.read_points(cloud)" here is PointCloud or PointCloud2?

When I try to publish this "cloud" data myself, I get the following error: "
``[ERROR] [1705042997.159589]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7fa8a914a400>>
Traceback (most recent call last):
File "/home/gokce/lidar_camera/src/ros_comm/clients/rospy/src/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "", line 76, in callback
File "", line 58, in signalMessage
File "", line 330, in add
File "", line 58, in signalMessage
File "/home/gokce/lidar_camera/src/camera_2d_lidar_calibration/src/reprojection.py", line 230, in callback
pub.publish(cloud) # PointCloud2 mesajını yayınla
File "/home/gokce/lidar_camera/src/ros_comm/clients/rospy/src/rospy/topics.py", line 879, in publish
data = args_kwds_to_message(self.data_class, args, kwds)
File "/home/gokce/lidar_camera/src/ros_comm/clients/rospy/src/rospy/msg.py", line 121, in args_kwds_to_message
raise TypeError("expected [%s] but got [%s]"%(data_class._slot_types[0], arg._type))
TypeError: expected [std_msgs/Header] but got [sensor_msgs/PointCloud2]"

Can you guide me for this?

Thanks so much for the work. I hve some questions:
Approximately how much marking data do I need to collect?
After calibrating once on the fixed system, do I need to repeat the same processes for each environment, or is calibrating only once sufficient?
What should be the average RMSE value?
Thank you in advance.

Hi!
Thanks for this ros package. May I know why do you assume distortion coefficient to be array of zeros? This is given as input in cv2.solvePnP function.

Thanks.

Hi, Thank you for your work.
When I add the following lines in the reprojection.py file
"for i in range(len(img_points)):
try:
cv2.circle(img, (np.int32(round(img_points[i][0])),np.int32(round(img_points[i][1]))), laser_point_radius, (0,255,0), 1)
print((np.int32(round(img_points[i][0]))),np.int32(round(img_points[i][1]))))"

The following values are printed to the terminal:

"
...
(-401, 462)
(-388, 462)
(-374, 463)
(-359, 463)
(-344, 463)
(-327, 464)
(-310, 465)
(-291, 465)
(-272, 466)
(-251, 466)
(-230, 467)
(-207, 468)
(-183, 468)
(-159, 469)
(-132, 470)
(-105, 470)
(-76, 471)
(-45, 472)
(-13, 473)
(20, 474)
(55, 475)
(92, 476)
(130, 477)
(170, 478)
(213, 479)
(257, 480)
(303, 481)
(351, 482)
(401, 483)
(454, 485)
(509, 486)
(567, 487)
(628, 489)
(691, 490)
(757, 492)
(826, 493)
(898, 495)
(974, 497)
(1052, 498)
(1134, 500)
(1220, 502)
(1310, 504)
(1403, 506)
(1501, 508)
(1604, 510)
(1711, 513)
(1822, 515)
(1939, 518)
(2061, 520)
(2188, 523)
(2321, 526)
(2460, 529)
(2605, 532)
(2757, 535)
(2916, 538)
..."
My question is, although the pixel width of the camera is 1280, why do I get values greater than 1280 or why are there negative values?
Thank you in advance for your reply!