LiDARTag
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UMich-BipedLab
ROS2 Port
Dear authors, As part of our sensor calibration toolkit, we in Tier IV are using lidartags for camera-lidar calibration.
Having finished the main part of our development we are wondering if you would be interested in accepting a PR centering in a ROS2 port. However, in addition to the ROS2 migration, we ended up making additional changes to suit our use cases.
The main changes are:
- ROS2 migration
- Strong refactoring
- Focus on detection accuracy rather than speed
- Improved initial tag detection through modified filters and custom RANSACs.
Thanks or the great project !
Hi,
Thanks for using the repository and reaching out!
I do appreciate that you guys further developed the package for ROS2!
And definitely YES, I'd be happy to accept a PR as another branch for ROS2.
Thanks for the disposition !
Before making the PR we would like to know which parts would you like to accept.
We first just ported the repository to ROS2 to evaluate the work that @sgk-000 was doing as part of his internship (https://github.com/tier4/LiDARTag/commits/galactic)
Afterwards to adapted the system and added some functionalities to make is suitable for our sensors, conditions, and so on, for the task of camera-lidar calibration (https://github.com/tier4/LiDARTag/tree/feature/xx1_vls128). For this last branch, a brief summary would be:
- Replaced the 4x line RANSAC for a rectangle estimation and a custom RANSAC.
- Tweaked filters for improve detection rated in our data (not parameters)
- Tweaked the system to detect tags when using lidars without intensities.
- Fixed the case where when the SVD fails to obtain a valid rotation matrix
CC: @aohsato
Hi, I would like to ask again if you are interested in accepting the changes we implemented. I understand that you may have probably moved to other projects but it is our policy to, as much as possible, send our or developments upstream :)
Hi,
It has been long. Thanks for the reminder, your patience, and your persistent policy!
Since your PR would be supporting ROS 2, I would prefer you directly pushing to another branch (ROS2), which I have created, if possible.
Please let me know there are other things I could do on my end.
Thanks you all again for using this package and your hard work to push your developments upstream!
Hi, thank you for your support ! I would like to make the PR later this week since we are in the middle of testing support for a new lidar that may prove to be tricky :bow:
@brucejk Sorry for the delay :pray:
I just created the related PR in https://github.com/UMich-BipedLab/LiDARTag/pull/19
Hi,
Thanks for your PR! I just merged.
Could you also provide a simple bagfile and update the readme so users could know how to use it?
Hi, Sorry it took a while, we needed to check some privacy concerns and check which bags we are allowed to share. We uploaded the bags themselves https://drive.google.com/drive/folders/1-9OvHH1tp0VKZ_rXEwz3OrVCgstuj8Ta and it should be a permalink for the foreseable future.
However, while writing the documentation, I realized that some changes are needed in the msgs package too (https://github.com/UMich-BipedLab/LiDARTag_msgs). Could you create a ros2 branch also ? :bow:
Dear authors, As part of our sensor calibration toolkit, we in Tier IV are using lidartags for camera-lidar calibration.
Having finished the main part of our development we are wondering if you would be interested in accepting a PR centering in a ROS2 port. However, in addition to the ROS2 migration, we ended up making additional changes to suit our use cases.
The main changes are:
* ROS2 migration * Strong refactoring * Focus on detection accuracy rather than speed * Improved initial tag detection through modified filters and custom RANSACs.Thanks or the great project !
hello，could you tell me some details about the code here,(https://github.com/UMich-BipedLab/LiDARTag/blob/release/src/lidartag_decode.cc#L1778) i am very confused the value 12,could you tell me somethingabout the value 12 ,thank you very much
