Input File Issue

[Garfield-cn]

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

[Garfield-cn]

I have downloaded your provided dataset, but during running, an error occurs, is my configuration wrong?

[Davabbb]

@GAfieldCN Have you solved this problem?

[ManChrys]

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

tree.txt

[Davabbb]

Hello @ManChrys thanks for your reply, but can you share your library versions?

[ManChrys]

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

[ManChrys]

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

GMMFit.cpp.txt

BoardSegmentation.cpp.txt

(dont forget to delete .txt extension)

[Davabbb]

@ManChrys do you run in docker?

[ManChrys]

@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.

[Davabbb]

@ManChrys I just think it's a bad repository, I'm already using another one.

[ManChrys]

@Davabbb which one ? And it runs smoothly ?

[Davabbb]

@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

[ManChrys]

Thanx bro I am trying this period some packages for my livox mid 40 and my zed2 camera calibration ! 🧐🧐

[Davabbb]

koide3/direct_visual_lidar_calibration#83 in this issue i describe how to solve problems

[ManChrys]

hello @Davabbb do you have an email so i can contact you about some questions i have about the package ?

Thanks in advance.

[Davabbb]

david.beilin@yandex.ru