zhijianglu
Input File Issue
Hi, I wanna launch this repo, but the description is not clear, could you explain the details of running this repo, especially the data requirements and how to configure the input? Thx
I have downloaded your provided dataset, but during running, an error occurs, is my configuration wrong?
Hello guys,
i had the same error. I attach you my RCLC tree so you can see how the folders must be. Did you create the
board folder in calib_data, cause its missing. After i create it and give it permisions to read and write chmod u+w /home/geo/RCLC/calib_data/board
it runs normally and it creates all the files in the board folder as you can see from the tree.
29 current processing pointcloud: ../calib_data/pc/45.pcd
40 current processing pointcloud: ../calib_data/pc/61.pcd Writing to: ../calib_data/board/45.pcd
35 current processing pointcloud: ../calib_data/pc/54.pcd
46 current processing pointcloud: ../calib_data/pc/73.pcd
4 current processing pointcloud: ../calib_data/pc/4.pcd Writing to: ../calib_data/board/4.pcd Writing to: ../calib_data/board/73.pcd Writing to: ../calib_data/board/54.pcd Writing to: ../calib_data/board/61.pcd
10 current processing pointcloud: ../calib_data/pc/14.pcd
5 current processing pointcloud: ../calib_data/pc/6.pcd Writing to: ../calib_data/board/6.pcd Writing to: ../calib_data/board/14.pcd
41 current processing pointcloud: ../calib_data/pc/65.pcd
11 current processing pointcloud: ../calib_data/pc/15.pcd Writing to: ../calib_data/board/65.pcd Writing to: ../calib_data/board/15.pcd
Hello @ManChrys thanks for your reply, but can you share your library versions?
libpcl-dev1.10.0+dfsg-5ubuntu1
Opencv 4.5.2 from the source installed compatible wuth cuda and cudnn
ceres-solver 2.1.0 (http://ceres-solver.org/installation.html)
eigen 3.3.7
UPDATE
running ./BoardSegmentation i had the following error too
ERROR
geo@geo:~/RCLC/build$ ./BoardSegmentation start loading parameters from:../cfg/config_real.yaml camera info loaded: cam_width: 2208 cam_height: 1242 cameraMatrix: [1065.35720614683, 0, 1133.61619952792; 0, 1065.6689380162, 567.24023381768; 0, 0, 1] distCoeffs: [-0.103423450596362, 0.123215002677024, 9.465795044150511e-05, -0.000613757818116764, -0.06383391409070251] parameters loaded!
0 current processing pointcloud: ../calib_data/pc/0.pcd
29 current processing pointcloud: ../calib_data/pc/29.pcd
10 current processing pointcloud: ../calib_data/pc/10.pcd
38 current processing pointcloud: ../calib_data/pc/38.pcd
20 current processing pointcloud: ../calib_data/pc/20.pcd
56 current processing pointcloud: ../calib_data/pc/56.pcd double free or corruption (!prev) Aborted (core dumped)
SOLUTION
modify GMMFit.cpp and BoardSegmentation.cpp
Corrected files which worked for me as i mentioned earlier
(dont forget to delete .txt extension)
@Davabbb no just normally installed in ubuntu 20.04.
Also i had some error in ./Calibrate command
geo@geo:~/RCLC/build$ ./Calibrate start loading parameters from:../cfg/config_real.yaml camera info loaded: cam_width: 2208 cam_height: 1242 cameraMatrix: [1065.35720614683, 0, 1133.61619952792; 0, 1065.6689380162, 567.24023381768; 0, 0, 1] distCoeffs: [-0.103423450596362, 0.123215002677024, 9.465795044150511e-05, -0.000613757818116764, -0.06383391409070251] parameters loaded! Floating point exception (core dumped)
but tried to fix and i face something like that
geo@geo:~/RCLC/build$ ./Calibrate start loading parameters from:../cfg/config_real.yaml camera info loaded: cam_width: 2208 cam_height: 1242 cameraMatrix: [1065.35720614683, 0, 1133.61619952792; 0, 1065.6689380162, 567.24023381768; 0, 0, 1] distCoeffs: [-0.103423450596362, 0.123215002677024, 9.465795044150511e-05, -0.000613757818116764, -0.06383391409070251] parameters loaded! Randomly select 5 frames to optimize Frame: ../calib_data/board/60.pcd detecting cornersFrame: ../calib_data/board/39.pcd detecting corners Frame: ../calib_data/board/2.pcd detecting corners Frame: ../calib_data/board/62.pcd detecting corners Frame: ../calib_data/board/17.pcd detecting corners corner detect failed, retry Failed to detect corners in image: ../calib_data/imgs/L/60.png corner detect failed, retry corner detect failed, retry corner detect failed, retry corner detect failed, retry Failed to detect corners in image: ../calib_data/imgs/L/62.png Failed to detect corners in image: ../calib_data/imgs/L/2.png Failed to detect corners in image: ../calib_data/imgs/L/39.png Failed to detect corners in image: ../calib_data/imgs/L/17.png Not enough corner points in frame 0 Not enough corner points in frame 1 Not enough corner points in frame 2 Not enough corner points in frame 3 Not enough corner points in frame 4 No valid points for solvePnP. Aborting calibration. 4.94066e-324 4.65949e-310 4.65949e-310 0 5.13828e-321 5.37543e-321 3.45846e-323 4.65948e-310 7.90505e-323 0 1.58101e-322 3.45846e-323 Final Extrinsic Parameters: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
i dont know if i did something wrong or just the images and pcds dont match exactly. i am looking forward for this too.
@ManChrys I just think it's a bad repository, I'm already using another one.
@ManChrys https://github.com/koide3/direct_visual_lidar_calibration?tab=readme-ov-file, there is a docker, I had some problems with the launch but it can all be solved, if anything I can help
Thanx bro I am trying this period some packages for my livox mid 40 and my zed2 camera calibration ! 🧐🧐
https://github.com/koide3/direct_visual_lidar_calibration/issues/83 in this issue i describe how to solve problems
hello @Davabbb do you have an email so i can contact you about some questions i have about the package ?
Thanks in advance.