mfxox / ILCC

Intensity-based_Lidar_Camera_Calibration

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Checkerboard corner estimation

malicd opened this issue · comments

Hi,
thank you for the amazing work you provided!
I have a following question: Is it really important that the target is rotated for 45 degrees (like in the demo data you provided) and why?
I am trying to use this calibration on my own data. In the data, the checkerboard target is parallel to the ground (not rotated for 45 degrees) and in 80-90% cases I get wrong checkerboard estimation like this:
rotation_wrong

How could I mitigate this problem?

If some one else is struggling with this issue try to exchange pattern_size width and height. For the given example, try both 'pattern_size': (10,6) and 'pattern_size': (6,10). In my case latter worked.