Heethesh Vhavle
Heethesh Vhavle
Yes it should work on Melodic. I haven't tested it but I also don't think it has any dependencies on Kinetic.
You may try other solver methods as shown [here](https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d) (accordingly update the minimum number of points in [this assert](https://github.com/heethesh/lidar_camera_calibration/blob/master/scripts/calibrate_camera_lidar.py#L319) statement based on the method). Try increasing `reprojectionError` or `iterationsCount`. Make...
You can compute the RMSE error at this [point](https://github.com/heethesh/lidar_camera_calibration/blob/master/scripts/calibrate_camera_lidar.py#L341). Here's a rough snippet to get started (untested): ``` points2D_reproj = cv2.projectPoints(points3D, rotation_vector, translation_vector, camera_matrix, dist_coeffs)[0].squeeze(1) assert(points2D_reproj.shape == points2D.shape) error =...
Yes you are right you only need the Euler angles. The rotation matrix is a more consistent way of representing rotations and does not have ambiguities such as that associated...
RGB values themselves are not stored anywhere, the image 2D points are stored in `img_corners.npy` and the corresponding 3D points are in `pcl_corners.npy`
Just store the RGB values [here](https://github.com/heethesh/lidar_camera_calibration/blob/master/scripts/calibrate_camera_lidar.py#L189) along with the image coordinates
Maybe these OpenCV [tutorials](https://www.bogotobogo.com/python/OpenCV_Python/python_opencv3_basic_image_operations_pixel_access_image_load.php) and reading up on working with Numpy arrays will help you get started. You can just use a python list to store the RGB values accessed...
> Hi, I used this code to check rmse but the result was not acceptable for example, the first result was 9 and the second was 27. RMSE computed over...
9 pixel RMSE is reasonable for 6 correspondences, I would recommend to use > 30-40 correspondences. Note that this evaluation computes reprojection error over the outlier points from PnPRansac as...
> Thank you for your reply and I am looking forward to your update. Try [this patch](https://github.com/heethesh/lidar_camera_calibration/pull/29/files) from the branch `inliers-reprojection-error` and let me know if this works, I'll merge...