Ouster lidar os1 64 about cam_lidar_calibration

[darrenjkt]

I've made some annotations for the rviz setup process. Let me know if this helps.

[chinitaberrio]

Just checkin the ROS driver for the Ouster lidar, I think it should work as it has the ring field in the point time, which is a requirement for the usage of the package.

[islamtalha01]

I am trying but if there is an issue I will let you know. kindly help me in this regard.

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On Fri, Sep 3, 2021 at 7:34 AM Stephany Berrio ***@***.***> wrote: Just checkin the ROS driver for the Ouster lidar <https://github.com/ouster-lidar/ouster_example/blob/master/ouster_ros/include/ouster_ros/point.h>, I think it should work as it has the ring field in the point time, which is a requirement for the usage of the package. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27F3ZIMIBCDEVEQHVL3UAAX4NANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[islamtalha01]

I am trying with ouster os1 64 and USB camera. both lidar and USB camera drivers are installed and they are also running pretty well individually. I think I am mistaking in configuring my config file. I am attaching the screenshot of the config file and please tell me where I am mistaking. I also attached the warning I am getting and also my viz is not showing the output of the camera and lidar when running the lidar_camera calibration tool. On Fri, Sep 3, 2021 at 10:50 AM MUHAMMAD TALHA ***@***.***> wrote:

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I am trying but if there is an issue I will let you know. kindly help me in this regard. On Fri, Sep 3, 2021 at 7:34 AM Stephany Berrio ***@***.***> wrote: > Just checkin the ROS driver for the Ouster lidar > <https://github.com/ouster-lidar/ouster_example/blob/master/ouster_ros/include/ouster_ros/point.h>, > I think it should work as it has the ring field in the point time, which is > a requirement for the usage of the package. > > — > You are receiving this because you authored the thread. > Reply to this email directly, view it on GitHub > <#4 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AT4S27F3ZIMIBCDEVEQHVL3UAAX4NANCNFSM5DG7XTMQ> > . > Triage notifications on the go with GitHub Mobile for iOS > <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> > or Android > <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. > >

[chinitaberrio]

I'm unable to see the attached files

[islamtalha01]

kindly check the pics in the folder uploaded on google drive. https://drive.google.com/drive/folders/1lQMeMv0lzVR_JxMgSZebeir5DbGxhlOL?usp=sharing

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On Fri, Sep 3, 2021 at 11:23 AM Stephany Berrio ***@***.***> wrote: I'm unable to see the attached files — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27BF2Z7ECVL35UDGM3TUABSULANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[chinitaberrio]

You need to change the global frame in rviz to your lidar frame

[islamtalha01]

There is no option to change the frame to ouster in that rviz window. I think my topics in the cfg file are not correct. How to find the exact topic of my sensor in ros. Kindly help me in this regard.

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On Fri, 3 Sep 2021, 1:10 PM Stephany Berrio, ***@***.***> wrote: You need to change the global frame in rviz to your lidar frame — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27FZYY3RPZHGKOLBRXLUAB7GTANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[chinitaberrio]

You should be able to change the global frame in rviz, refer to this document: http://wiki.ros.org/rviz/UserGuide
Once you have launched all your drivers, open a new terminal and type rostopic list, you should be able to see all the topics published by the drivers, you can also take a look at these links: http://wiki.ros.org/rostopic http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics

[islamtalha01]

Thanks, a lot Stephany. I will look into it and come back to you. I am very thankful to you for this help. I am newby that's why I am asking all these questions. again thanks a lot.

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On Fri, Sep 3, 2021 at 2:49 PM Stephany Berrio ***@***.***> wrote: You should be able to change the global frame in rviz, refer to this document: http://wiki.ros.org/rviz/UserGuide Once you have launched all your drivers, open a new terminal and type rostopic list, you should be able to see all the topics published by the drivers, you can also take a look at these links: http://wiki.ros.org/rostopic http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27HZMDIACBE6NY6HB6DUACK3RANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[islamtalha01]

Hello Stephany, Is there any other way to communicate with you in this regard? Facebook, WhatsApp, or MS teams. I am asking this because there we can contact easily and often. I am a beginner, I just need your help for some time otherwise there is no support of ROS with ouster in this regard on the internet. kindly help me. I will not create inconvenience for you. Thank you. On Sat, Sep 4, 2021 at 1:37 AM MUHAMMAD TALHA ***@***.***> wrote:

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I am able to get the camera and lidar stream in the rviz window. now when I trying to extract features from a live feed. it is not happening. I have recorded the video kindly see the video and help me in this regard. i will be very thankful to you for this. please see video in the link below. https://drive.google.com/drive/folders/1lQMeMv0lzVR_JxMgSZebeir5DbGxhlOL?usp=sharing On Fri, Sep 3, 2021 at 2:52 PM MUHAMMAD TALHA ***@***.***> wrote: > Thanks, a lot Stephany. > I will look into it and come back to you. I am very thankful to you for > this help. I am newby that's why I am asking all these questions. again > thanks a lot. > > > On Fri, Sep 3, 2021 at 2:49 PM Stephany Berrio ***@***.***> > wrote: > >> You should be able to change the global frame in rviz, refer to this >> document: http://wiki.ros.org/rviz/UserGuide >> Once you have launched all your drivers, open a new terminal and type rostopic >> list, you should be able to see all the topics published by the >> drivers, you can also take a look at these links: >> http://wiki.ros.org/rostopic >> http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics >> >> — >> You are receiving this because you authored the thread. >> Reply to this email directly, view it on GitHub >> <#4 (comment)>, >> or unsubscribe >> <https://github.com/notifications/unsubscribe-auth/AT4S27HZMDIACBE6NY6HB6DUACK3RANCNFSM5DG7XTMQ> >> . >> Triage notifications on the go with GitHub Mobile for iOS >> <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> >> or Android >> <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. >> >> >

[chinitaberrio]

If you have any issues with your ouster driver please address them at: https://github.com/ouster-lidar/ouster_example, we can only support problems related to the camera-lidar calibration package.

[islamtalha01]

I have no issue regarding driver i am just saying that theyvhave no support regarding camera lidar calibration that's why I am asking about your package. Did you saw my video that i upload on the Google drive.

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On Mon, 6 Sep 2021, 1:40 AM Stephany Berrio, ***@***.***> wrote: If you have any issues with your ouster driver please address them at: https://github.com/ouster-lidar/ouster_example, we can only support problems related to the camera-lidar calibration package. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27AJKIJBBQOYH3SYYM3UAPITXANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[chinitaberrio]

Prepare a rectangular chessboard printout, preferably with odd-numbered grid dimensions (e.g. 9x7, 11x13)
Firmly attach the chessboard on a rigid, opaque, and rectangular board such that both their centres align and their edges remain parallel to one another.
Choose a suitable stand that can mount the target with little to no protruding elements from the board's edges.
Mount the target on the stand such that it is tilted at an angle of 45-60 degrees with respect to the ground plane.

You also need to adjust the experimental region for your case. The in rqt_reconfigure, feature_extraction variables correspond to the bounds of the 3D experimental region along the LiDAR's x,y,z axis:
x_min [rear], x_max [front] with range of [-6.0, 6.0]
y_min [right], y_max [left] with range of [-5.0, 5.0]
z_min [bottom], z_max [top] with range of [-2.0, 2.0]

[islamtalha01]

What does it mesns by adjust the experimental region? How we can do it? We have to edit some file?

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On Mon, 6 Sep 2021, 1:53 AM Stephany Berrio, ***@***.***> wrote: Prepare a rectangular chessboard printout, preferably with odd-numbered grid dimensions (e.g. 9x7, 11x13) Firmly attach the chessboard on a rigid, opaque, and rectangular board such that both their centres align and their edges remain parallel to one another. *Choose a suitable stand that can mount the target with little to no protruding elements from the board's edges.* Mount the target on the stand such that it is tilted at an angle of 45-60 degrees with respect to the ground plane. You also need to adjust the experimental region for your case. The in rqt_reconfigure, feature_extraction variables correspond to the bounds of the 3D experimental region along the LiDAR's x,y,z axis: x_min [rear], x_max [front] with range of [-6.0, 6.0] y_min [right], y_max [left] with range of [-5.0, 5.0] z_min [bottom], z_max [top] with range of [-2.0, 2.0] — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27AEFGXAKIRCHM2RPNTUAPKFBANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[darrenjkt]

When you run roslaunch cam_lidar_calibration run_optimiser.launch, two windows will pop up. One is Rviz, the other is the rqt_reconfigure window. The rqt_reconfigure window is where you can adjust the experimental region. That window basically sets the maximum and minimum x,y and z value such that you only allow certain points through within those bounds and filter the rest out.

[islamtalha01]

Okkay got it. But the thing is that when i am changing this values in my previous exp nothing happens. No change in region happens. What would be the reason? I recorded bag file containing img and point cloud but when i am running this file and adjusting my exp region nothing happens. There is a error of no tranform found or something like what is this issue?

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On Mon, 6 Sep 2021, 7:38 AM Darren Tsai, ***@***.***> wrote: When you run roslaunch cam_lidar_calibration run_optimiser.launch, two windows will pop up. One is Rviz, the other is the rqt_reconfigure window. The rqt_reconfigure window is where you can adjust the experimental region. That window basically sets the maximum and minimum x,y and z value such that you only allow certain points through within those bounds and filter the rest out. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27GQCJ2YF5OCOCTRTLLUAQSRRANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[chinitaberrio]

Make sure the topic name is correct. Also you can refer to this readme file: https://github.com/chinitaberrio/cam_lidar_calibration

[darrenjkt]

Before adjusting anything in the rqt_reconfigure, you should be able to see the entire pointcloud if you've configured RViz correctly

[islamtalha01]

Darren I am seeing both lidar point clouds and camera stream by playing my rec bag file. But it is showing some issues of transform. My bag file has no \tf topics. Darren can we talk in something that is much fluent or easy like Skype or ms teams. I am doing an intern at university, In a hour i will have the sensor os1 in my hand, can you help me with that?. On email it is difficult to mention things in robust manner. It will be the matter of 10 to 20 minutes. But by this way i will be sure in these minutes that this package is gonna work for or not. Kindly think about it and let me know, otherwise email will the option i opt for. Kindly do me favor of 10 to 20 minutes.

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On Mon, 6 Sep 2021, 9:17 AM Darren Tsai, ***@***.***> wrote: Before adjusting anything in the rqt_reconfigure, you should be able to see the entire pointcloud if you've configured RViz correctly — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27BRS3MLJSTVTFBW2OLUAQ6HDANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[islamtalha01]

I am able to get the camera and lidar stream in the rviz window. now when I trying to extract features from a live feed. it is not happening. I have recorded the video kindly see the video and help me in this regard. i will be very thankful to you for this. please see video in the link below. https://drive.google.com/drive/folders/1lQMeMv0lzVR_JxMgSZebeir5DbGxhlOL?usp=sharing On Fri, Sep 3, 2021 at 2:52 PM MUHAMMAD TALHA ***@***.***> wrote:

…

Thanks, a lot Stephany. I will look into it and come back to you. I am very thankful to you for this help. I am newby that's why I am asking all these questions. again thanks a lot. On Fri, Sep 3, 2021 at 2:49 PM Stephany Berrio ***@***.***> wrote: > You should be able to change the global frame in rviz, refer to this > document: http://wiki.ros.org/rviz/UserGuide > Once you have launched all your drivers, open a new terminal and type rostopic > list, you should be able to see all the topics published by the drivers, > you can also take a look at these links: http://wiki.ros.org/rostopic > http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics > > — > You are receiving this because you authored the thread. > Reply to this email directly, view it on GitHub > <#4 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AT4S27HZMDIACBE6NY6HB6DUACK3RANCNFSM5DG7XTMQ> > . > Triage notifications on the go with GitHub Mobile for iOS > <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> > or Android > <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. > >

[chinitaberrio]

The first step is to have the proper setup:

Prepare a rectangular chessboard printout, preferably with odd-numbered grid dimensions (e.g. 9x7, 11x13)
Firmly attach the chessboard on a rigid, opaque, and rectangular board such that both their centres align and their edges remain parallel to one another.
Choose a suitable stand that can mount the target with little to no protruding elements from the board's edges.
Mount the target on the stand such that it is tilted at an angle of 45-60 degrees with respect to the ground plane.

The tool provided won't work if you are holding the checkerboard as it needs to be isolated from the background by adjusting the experimental region like this:

[darrenjkt]

You can send me an email at [email protected] and we can chat further.

[ygsq-123]

Is the problem of adjusting the rqt_reconfigure window but the point cloud range unchanged? I also encountered the same problem. Can you tell me how to solve it, thank you.

[islamtalha01]

I am still facing this problem so if there any solution will come to me I will tell you

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On Wed, Sep 8, 2021 at 7:01 AM ygsq-123 ***@***.***> wrote: Is the problem of adjusting the rqt_reconfigure window but the point cloud range unchanged? I also encountered the same problem. Can you tell me how to solve it, thank you. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27BJA3BTBAO66ED7JUTUA27YXANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[chinitaberrio]

Can you show me the point cloud topics that appear on rviz? Eg.

Which rostopic are you displaying on rviz?

[islamtalha01]

Thanks, I'll check it out.

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On Wed, 8 Sep 2021, 2:27 PM Darren Tsai, ***@***.***> wrote: I've made some annotations for the rviz setup process. Let me know if this helps. [image: RVIZ instructions] <https://user-images.githubusercontent.com/39115809/132483784-09398b0c-0009-4c3f-80c2-9bf19b1e6aeb.png> — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27BNASQRYKHYYUQ22FTUA4UBVANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[islamtalha01]

Hi, Darren, I have tried the things you said in the last reply but i am not able to extract the checkerboard. some errors appeared which I attached a screenshot. the second thing using recorded bag file How to apply feature extraction? do i have to pause the bag file at some point? or just use feature extraction when the rosbag file is playing?.

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On Tue, Sep 21, 2021 at 6:18 AM Darren Tsai ***@***.***> wrote: Closed #4 <#4>. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27AX7YC2SVHEKH5ARYTUC7MPXANCNFSM5DG7XTMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[islamtalha01]

Now i am able to extract the checkerboard but i am getting an error due to which i am not able to calibrate. I have attached the error screenshot. Kindly reply as soon as possible. On Thu, Sep 30, 2021 at 4:21 AM MUHAMMAD TALHA ***@***.***> wrote:

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Hi, Darren, I have tried the things you said in the last reply but i am not able to extract the checkerboard. some errors appeared which I attached a screenshot. the second thing using recorded bag file How to apply feature extraction? do i have to pause the bag file at some point? or just use feature extraction when the rosbag file is playing?. On Tue, Sep 21, 2021 at 6:18 AM Darren Tsai ***@***.***> wrote: > Closed #4 <#4>. > > — > You are receiving this because you authored the thread. > Reply to this email directly, view it on GitHub > <#4 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AT4S27AX7YC2SVHEKH5ARYTUC7MPXANCNFSM5DG7XTMQ> > . > Triage notifications on the go with GitHub Mobile for iOS > <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> > or Android > <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. > >

[jvnsg]

Hey @islamtalha01,
I have some similar issues like you had configuring the calibration tool for the Ouster LIDAR. Is there a way I can contact you directly to help me out?

[jogyul00]

I'm using the os1 64ch lidar, too. but I'm not able to extract the chekerboard. How did you do?? Help me, please. Just like your situation before, I adjust the rqt_reconfigure window but the point cloud range unchanged.

[testgithubme]

Hey @islamtalha01 ,
I am facing the problem in Ouster LIDAR and Camera calibration. can you help me solve the problem.....

[testgithubme]

did anybody get the solution of this issue? if so please help me to calibrate OS2 64 channel
Lidar and camera .....