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关于相机和雷达联合标定问题

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Author: qulei | Time: 2022-3-8 15:51:41 |
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Posted on 2022-3-8 15:51:41| All floors |Read mode
Last edited by qulei In 2022-3-8 16:20 Editor

我们使用 livox_camera_lidar_calibration 标定工具,
在使用livox tele-15和海康的相机(DS-2CD3T56WD-I3)进行标定测试。
我每组录制了10~20对数据,计算了相机的内参,使用getExt1来计算外参,误差数据都剔除了。
测试三次,每次使用获取的外参,计算投影到图片中的矩形框都有点靠前,目标越远差距远大。
请问,有什么原因会造成这种情况?
               
    矩形框有点靠前                    距离近些, 矩形框和目标差不多重合

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Posted on 2022-3-9 11:43:19| All floors
1. 录制数据的时候不准确;2. 内参不准确;3. 数据采集时没有均匀的在图像上采集,都有可能
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 Author| Posted on 2022-3-9 13:23:07| All floors
Livox Support Posted at 2022-3-9 11:43
1. 录制数据的时候不准确;2. 内参不准确;3. 数据采集时没有均匀的在图像上采集,都有可能 ...

会不会和标定板的材质有关??
我使用的一张100*80cm,打印的棋盘格,贴到一个木板上
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Posted on 2022-3-10 10:16:42| All floors
是内参标定的棋盘格吗?
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 Author| Posted on 2022-3-10 11:12:00| All floors
Livox Support Posted at 2022-3-10 10:16
是内参标定的棋盘格吗?

是的,内参和外参我都是用的是棋盘格进行标定的
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Posted on 2022-3-10 14:13:16| All floors
计算内参的时候会有一个误差,保持这个误差不要太大就好
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