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feat(marker_radar_lidar_calibrator): t4 garage xx1 experiment [DO NOT MERGE] #195

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knzo25
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@knzo25 knzo25 commented Sep 30, 2024

Description

Making a dummy PR do evaluate and comment about the changes required to perform radar calibration in the garage

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@knzo25 knzo25 marked this pull request as draft September 30, 2024 05:48
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knzo25 commented Sep 30, 2024

@vividf
This time I can run the code normally, but it is impossible to perform a correct analysis with all the false positives from you and other people appearing in front of the lidar and being detected as markers

Please provide a commit in which this does not happen. This should be possible by setting an appropriate max cluster z.
If not, a max cluster height (difference between min and max z). If even that is not enough, please try some approaches on your end

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vividf commented Oct 1, 2024

I changed the cluster max size from 2000 to 500 and it became more stable.
Also, for rear_center bags, please use bag 2 and bag 3 which has more stable lidar (because I didn't open rviz)
https://github.com/vividf/CalibrationTools/tree/t4_garage_xx1_experiment

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vividf commented Oct 3, 2024

@knzo25 branch is updated for some changes.

* chore: tune parameter setting for smooth calibration

Signed-off-by: vividf <[email protected]>

* chore: fix default rviz for text markers

Signed-off-by: vividf <[email protected]>

* chore: fix default rviz for text markers

Signed-off-by: vividf <[email protected]>

* chore: remove unused header

Signed-off-by: vividf <[email protected]>

* chore: change function name to evaluateCombinations

Signed-off-by: vividf <[email protected]>

* chore: change function name to get2DRotationDelta

Signed-off-by: vividf <[email protected]>

* chore: change variable name

Signed-off-by: vividf <[email protected]>

* chore: fix waiting to extract the background model

Signed-off-by: vividf <[email protected]>

* chore: fix grammar error

Signed-off-by: vividf <[email protected]>

* chore: fix function name and clean code

Signed-off-by: vividf <[email protected]>

* chore: remove unnessary logging

Signed-off-by: vividf <[email protected]>

* chore: fix int to size_t

Signed-off-by: vividf <[email protected]>

* chore: fix estimateZeroRollTransformation logging

Signed-off-by: vividf <[email protected]>

* chore: add std::size_t

Signed-off-by: vividf <[email protected]>

* chore: NULL to nullptr

Signed-off-by: vividf <[email protected]>

* chore: declare point type only once

Signed-off-by: vividf <[email protected]>

* chore: remove class member and declare new structure

Signed-off-by: vividf <[email protected]>

* chore: fix description of radar_optimization_frame

Signed-off-by: vividf <[email protected]>

* chore: remove if condition

Signed-off-by: vividf <[email protected]>

* chore: fix function name setDelta

Signed-off-by: vividf <[email protected]>

---------

Signed-off-by: vividf <[email protected]>
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2 participants