Autoware Camera-LiDAR Calibration Package - saving the extrinsic calibration .yaml file

asked 2020-02-09 17:09:49 -0600

msaeUF gravatar image

updated 2020-02-09 17:25:41 -0600

I am following the directions on: https://autoware.readthedocs.io/en/fe...

to calibrate the lidar and camera. I was able to to get the intrinsic calibration however cannot get the extrinsic calibration file. As directed, in a sourced terminal, with the correct path and image_src I run: roslaunch autoware_camera_lidar_calibrator camera_lidar_calibration.launch intrinsics_file:=/PATH/TO/YYYYmmdd_HHMM_autoware_camera_calibration.yaml image_src:=/image

This opens up a window of what my camera is seeing, and then on another terminal I open rviz and visualize the raw point cloud coming live from my Velodyne LiDAR. I then pick a point in the window that previously popped up, and then using publish point tool, pick the 3-D equivalent point in RVIZ. I do that 9+ times and the calibrator node continues to run. There is no save option or anything, how do I save the calibration? If I do ctrl+c it exits out and no file is made. The directions just say "Once finished, a file will be saved in your home directory with the name" but how do you finish? I wasn't able to find any file in the home directory.

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Comments

1

The parameter file should be automatically saved once you click 9 times each. If you don't see any file, that means you probably did something wrong(e.g. clicked something twice). Could you paste the output of the terminal you started the launch file?

mitsudome-r gravatar imagemitsudome-r ( 2020-02-09 20:39:53 -0600 )edit

I tried it again and it saved. Thank you. However, now I am getting in another issue. I have the extrinsic and intrinsic calibration files, but I can't get sensor fusion i.e. fusion of lidar and camera data. I used Pixel-Cloud Fusion node (https://autoware.readthedocs.io/en/fe...) but it keeps on saying waiting for intrinsic file and the target frame does not exist. Am I supposed to do something else also?
Running the calibration publisher using the extrinsic yaml file and it runs and exits out of the node - is that how it is supposed to be?

I would really appreciate if you could direct me of the next steps I could take inorder to overlay the data of each sensor and get "sensor fusion". Thank you!!

msaeUF gravatar imagemsaeUF ( 2020-02-10 16:58:49 -0600 )edit