Comments (7)
FYI @afonsocastro For now just testing with the current cost function to see if it makes sense ...
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Hi @afonsocastro ,
I made the following test: built a json file with a bad first guess [images are not very nice but for that we have #50 ].
then ran an optimization with all sensors and about 40 collections. the goal was to see if the pose of the lidars converged to the real pose. Results are these:
Bottom line, I am not sure this is working, the Lasers did not converge to the propper place did they?
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... what else could we try? An optimization without cameras? not sure it would / should provide more information ... any ideas ?
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Maybe we should try an optimization without cameras and see what happens. The lasers may not align on the z-axis but they should align on xy-axis.
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Try out new orthogonal residuals for all the points
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Example of launchig the code
test/sensor_pose_json_v2/main_ros_visualization.py -json ~/datasets/calibration_26nov2019/data_collected.json -cradius .5 -csize 0.101 -cnumx 9 -cnumy 6 -vo -si -csf "lambda x: not str(x) in ['5', '6', '7', '12', '13', '14', '15'] and int(x)<7" -ssf "lambda name: name=='top_left_camera' or name=='right_laser'"
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Done
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Related Issues (20)
- why not use the function with the same name in utilities? HOT 5
- Add a script to use OpenCV's calibration for the eye-to-hand case HOT 25
- ATOM only capable of handling plumb_bob distortion model HOT 3
- -sce calibrate flag not working
- Why is process results searching for the 'Collections #' collumn instead of just searching the first collumn?
- Executing softbot experiments HOT 35
- Implement pandey 2010 lidar to camera HOT 2
- Bad Softbot's calibration results with perfect simulation HOT 16
- Upgrade process_results to include plots HOT 8
- Batch execution listing experiment folders wrongly HOT 2
- Change ATOM's RViz view from XYOrbit to Orbit HOT 2
- Implement Lidar to camera Dahll2017 HOT 8
- Implement Lidar to camera Zhou2018
- Publish interactive_pattern tf to world
- lidar_rgb evaluation crashing HOT 1
- Create a lidar annotation tool HOT 6
- Depth labels only save a single border point HOT 3
- Move set initial estimate to dataset playback
- Function to assert the modality of a sensor HOT 2
- Using CTRL C to stop dataset playback wiped clean the json. HOT 3
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