Cameras Calib: FoV Check not passed and pts_3d empty

[hku-mars]

Cameras Calib: FoV Check not passed and pts_3d empty

[lsangreg]

@samsdolphin
Ok apparently this FoV check, it checks if the lidar point, after being transformed into the camera coordinate system, is directed towards the camera within a certain angle. If the cosine of that angle is greater than 0.8, the point is considered within the field of view. Right?
In my case, my base lidar is 360 lidar, so there should be always some overlap.

1. When we do the camera calibration are we calibrating the cameras with respect to the base lidar ONLY right? Or we are taking in consideration also the other lidars? I am confused because in the config file on the lidar we specify also ExtLiDARNumber1, ExtLiDARNumber2 .. etc .
2. When you perform LiDAR-Camera without FoV Overlap (B.2) , do you perform the FoV check too?

[lsangreg]

This is a sample of the edges I got, there isn't any edge correspondence in red as in your example

Is this image coming from the lidar edges or the camera edges?

[lsangreg]

I found out that the extrinsic matrix i was using as initial guess was not taking in consideration the transformation from local camera CS into Lidar CS