Erroneuous results about camlasercalibratool HOT 19 CLOSED

i can provide you with the bagfile, the intrinsics of the camera, as well as an image of my setup, showing the rough distance between the sensors.

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ok, you can upload your bag to google drive. Have you fully moved each axis?

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thank you so much!
I believe i have moved each axis. You can see in the bag file! I am using an aprilTag. I understand this is not as accurate as the other tag, but i dont believe that is the problem.

I inspected the camera poses computed, and they all seem sensible.

When the laser lines were being extracted, i saw that the correct lines were being extracted (shown in red by your graphic).

So i tried my best to find a fault in my data, but could not.

This is the google drive link:
https://drive.google.com/file/d/1QNQW5XNQpD1YY1hsyZlBR-RABFHRVx3R/view?usp=sharing

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From your data, I found that the movement of the axes of the calibration plate is not sufficient. I upload a video to show how to move the calibration board correctly. You can try it again. Good luck.
https://drive.google.com/file/d/1JDIsxzfw0dPvrpFv3Yh0dx-5Ot-p3qVa/view?usp=sharing

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Hello,

I've tried to do what you said. Unfortunately the results are still not good. Ive also noticed a inconsistency in the results for the same data. I run the code 5 times with the same exact data, and each time i get different results.

I posted a link with the bag file i'm using, as well as the config file.

If its easy enough for you to run and see, i would greatly appreciate the help, i have tried many times! :)

https://drive.google.com/file/d/1c_xbibNR5D16wlgotyvxxR80YH-GND_a/view?usp=sharing

Thank you very much,
Jad

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Oops didnt mean to close!

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you can change on line code in https://github.com/MegviiRobot/CamLaserCalibraTool/blob/master/main/calibr_offline.cpp#L168.
from CamLaserCalibration(obs,Tcl, true) to CamLaserCalibration(obs,Tcl, false).

In addition, I think your collection process is still not good enough. I will upload a bag dataset this weekend, you can try it.

p.s. The code is simple, you can read it and try to improve it. Please feel free to contact me if you have any questions.

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Okay Thank you!

When you say the collection is not good enough, you mean i am still not using enough variation in poses of the pattern?

I would definitely appreciate a bag file from you, to compare with mine, and try to figure it out!

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Also, if you can include a photo of your laser/camera setup that would help

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I am going through your code,
Would you mind explaining the pose_local_parameterization method you are using.

Particularly, the deltaQ function

Thanks!

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Sorry for the uploaded dataset so late. This bag is from a user:
https://drive.google.com/file/d/1HHwLWwtUrqIOWTG7QFNbwzq9Wq_Ezk7l/view?usp=sharing
Before calibration, please change code CamLaserCalibration(obs,Tcl, true) to CamLaserCalibration(obs,Tcl, false).

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Hello,

I ran the code with your bagfile: The results are as follows:

-0.016032 0.313896 0.949322 -0.0246073
-0.999425 -0.0334087 -0.0058315 0.0523218
0.0298851 -0.948869 0.314251 0.124248
0 0 -0 1

Does this make sense with your physical setup?

Also, would you mind explaining the deltaQ function in the pose_local_parameterization method you are using. I understand optimization along a manifold, i am only curious about the math used in that function

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deltaQ is a quaternion when delta_theta is small， q ~ [1, 1/2 delta_theta]^{T}.
For the calibration results, you can run debug.launch to check.

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In the bagfile you provided me, were the images already rectified?

this is because the line 161 in kalibratag_detector_node.cpp:
//cv::remap(cv_ptr->image, rectified, undist_map1_, undist_map2_, CV_INTER_LINEAR);

is commented out, which assumes the images are already rectified

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We only rectified the coordinates of the corner points instead of rectifying the image.

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Cool!

Where in the code is this rectification being done?

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Is it line 296 in calcCamPose.cpp:

cam->liftProjective(a, b);

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yes, you are right.

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Sorry forgot to close!

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