Comments (35)
manuelgitgomes
commented on September 2, 2024
First results on real hardware:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 000 | 275.0286 | 0.3454 | 177.7730 |
| 001 | 333.0045 | 0.3159 | 199.8795 |
| 002 | 363.7517 | 0.2563 | 239.0002 |
| 003 | 384.0973 | 0.2566 | 252.7828 |
| 004 | 395.3886 | 0.2917 | 263.8111 |
| 005 | 393.5925 | 0.3695 | 262.2293 |
| 006 | 356.9781 | 0.3003 | 231.1520 |
| 007 | 352.8178 | 0.2950 | 232.3646 |
| 008 | 238.8357 | 0.2559 | 121.0968 |
| 009 | 213.3660 | 0.2372 | 110.0644 |
| 010 | 139.1251 | 0.2238 | 80.7780 |
| 011 | 122.5844 | 0.2422 | 72.5813 |
| 012 | 107.9010 | 0.2523 | 71.6254 |
| 013 | 103.2804 | 0.2991 | 74.4152 |
| 014 | 96.0445 | 0.3032 | 72.8355 |
| 015 | 123.6971 | 0.2780 | 116.7451 |
| 016 | 129.1970 | 0.2431 | 117.6668 |
| 017 | 159.7414 | 0.2715 | 159.3751 |
| 018 | 178.6341 | 0.2248 | 168.8682 |
| 019 | 163.1489 | 0.2710 | 170.2330 |
| 027 | 295.9190 | 0.2751 | 256.3590 |
| 028 | 356.2458 | 0.2485 | 265.3659 |
| 029 | 376.8839 | 0.2466 | --- |
| 030 | 384.6001 | 0.2702 | --- |
| 031 | 374.7438 | 0.2627 | 252.9367 |
| 032 | 361.5130 | 0.3008 | 239.3440 |
| 033 | 344.7455 | 0.3648 | 221.8493 |
| 034 | 152.5143 | 0.2551 | 129.7780 |
| 035 | 91.4019 | 0.2898 | 83.9149 |
| 036 | 73.0214 | 0.3027 | 95.4866 |
| 037 | 87.9674 | 0.2864 | 66.2072 |
| 038 | 136.8541 | 0.2543 | 73.3636 |
| Averages | 239.5820 | 0.2778 | 162.6627 |
+------------+-----------------+-----------+------------------+The results are weak. This might be due to various factors, one of them being the lack of odometry calibration.
Another big factor is the inability of setting an initial estimate. I believe his is due to the camera info being filled with 0s, because the following error appears in RViz:
Do you have any idea on why this might be? @miguelriemoliveira
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Hi @manuelgitgomes ,
yes results are weak. I would say you may include them anyway pointing the the reasons you think are contributing to the fact.
About the camera, probably the camera drivers are not working well. Post the result of command
rostopic echo <camera info msg>
when running your bagfile.
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Post the result of command
header:
seq: 1903
stamp:
secs: 1654540990
nsecs: 653568987
frame_id: "top_left_camera_optical"
height: 0
width: 0
distortion_model: ''
D: []
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 1
binning_y: 1
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: True
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
So the camera is not calibrated, and for that reason the camera info message is not being published.
We need to run a monocular camera calibration
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
in order to have the cameras calibrated.
@Sarxell , this is something we should have done, but I forgot to tell you.
Please add it to your future work in the thesis.
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Should I do this too or should I add to the future work as well?
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Right now I would say finish writting with what you got. Then we'll see if we have time.
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Ok sure. Thank you!
from atlascar2.
Sarxell
commented on September 2, 2024
Hi @miguelriemoliveira, I will add it!
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Results:
Simulation anchored:
Calibration:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 000 | 0.4118 | 0.0056 | 0.5720 |
| 001 | 0.3562 | 0.0054 | 0.5021 |
| 002 | 0.3291 | 0.0052 | 0.4333 |
| 003 | 1.1187 | 0.0059 | 1.4422 |
| 004 | 0.6081 | 0.0068 | 0.8742 |
| 005 | 0.3277 | 0.0064 | 0.3644 |
| 006 | 0.3918 | 0.0065 | 0.4160 |
| 007 | 0.5017 | 0.0064 | 0.5390 |
| 008 | 0.8339 | 0.0070 | 1.0468 |
| 009 | 1.2401 | 0.0068 | --- |
| 010 | 0.8000 | 0.0068 | --- |
| 011 | --- | 0.0072 | 0.5112 |
| 012 | 0.4555 | 0.0062 | 0.5354 |
| 013 | 0.2571 | 0.0072 | 0.3850 |
| 014 | 0.9410 | 0.0071 | 1.1213 |
| 015 | 0.3735 | 0.0067 | 0.3941 |
| 016 | 0.4463 | 0.0065 | 0.5579 |
| 018 | 0.4515 | 0.0066 | 0.4497 |
| 019 | 0.6007 | 0.0070 | 0.7834 |
| 020 | 1.0534 | 0.0071 | 1.0414 |
| 021 | 0.4530 | 0.0072 | 0.4697 |
| 022 | 0.4671 | 0.0069 | 0.5971 |
| 023 | 0.6215 | 0.0067 | 0.8422 |
| 024 | 0.5932 | 0.0069 | 0.7061 |
| 025 | 0.3196 | 0.0065 | 0.3650 |
| 026 | 0.4232 | 0.0065 | 0.6079 |
| 027 | 0.4859 | 0.0064 | 0.5184 |
| 028 | 0.4446 | 0.0070 | 0.5558 |
| 029 | 0.8348 | 0.0068 | 1.1149 |
| 030 | 1.8210 | 0.0070 | --- |
| 031 | 0.7901 | 0.0065 | 0.7719 |
| 032 | 0.9086 | 0.0063 | --- |
| 033 | --- | 0.0071 | 0.5773 |
| 034 | --- | 0.0065 | 1.0203 |
| 035 | 1.0788 | 0.0064 | 1.2103 |
| 036 | 0.8420 | 0.0065 | 0.6544 |
| 037 | 0.4252 | 0.0062 | 0.5215 |
| 038 | 0.4971 | 0.0065 | 0.5015 |
| 039 | 0.6584 | 0.0064 | 0.7675 |
| 040 | 0.9038 | 0.0059 | 1.2491 |
| 041 | 0.8973 | 0.0061 | 1.0768 |
| 042 | 0.9952 | 0.0058 | 0.8750 |
| 043 | 0.3295 | 0.0059 | 0.4476 |
| 044 | 0.6239 | 0.0055 | 0.9774 |
| 045 | 1.0308 | 0.0057 | 1.6542 |
| 046 | 1.8966 | 0.0052 | --- |
| 047 | 1.2426 | 0.0059 | 1.8163 |
| 048 | 1.0450 | 0.0060 | 1.3082 |
| 049 | 0.5015 | 0.0056 | --- |
| 050 | 0.4505 | 0.0060 | 0.4100 |
| 051 | 0.7639 | 0.0053 | 1.2460 |
| 052 | 0.5820 | 0.0050 | 0.7458 |
| 053 | 0.6466 | 0.0044 | --- |
| Averages | 0.7014 | 0.0063 | 0.7734 |
+------------+-----------------+-----------+------------------+top_left_camera to top_right_camera:
+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000 | 1.3244 | 0.7817 | 0.6034 | 18.6283 | 5.1401 |
| 002 | 1.6019 | 1.1561 | 0.6843 | 38.5390 | 0.6525 |
| 003 | 3.2368 | 2.8075 | 0.6471 | 40.0608 | 2.2658 |
| 005 | 5.5929 | 4.7650 | 1.3496 | 45.4644 | 2.1724 |
| 006 | 6.7402 | 6.0647 | 1.0824 | 46.2867 | 3.2438 |
| 014 | 2.6259 | 2.1591 | 0.5466 | 49.6409 | 3.0605 |
| 015 | 2.2904 | 1.9020 | 0.5942 | 30.0401 | 2.5518 |
| 016 | 1.2386 | 0.7728 | 0.5976 | 34.9654 | 1.5902 |
| 017 | 2.3129 | 1.7420 | 0.6095 | 25.1710 | 4.3049 |
| 018 | 3.4350 | 2.3100 | 1.3983 | 30.2192 | 4.1877 |
| Averages | 3.0399 | 2.4461 | 0.8113 | 35.9016 | 2.9170 |
+--------------+-----------+-------------+-------------+------------+-----------+
top_left_camera to top_lidar:
+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
| 000 | 2.5291 | 2.0983 | 0.1897 |
| 001 | 2.8449 | 2.3122 | 0.5073 |
| 002 | 3.3830 | 1.8925 | 0.8922 |
| 003 | 2.8031 | 1.7230 | 1.0497 |
| 004 | 3.5487 | 2.9823 | 0.4983 |
| 005 | 5.7742 | 3.0615 | 1.4168 |
| 006 | 5.5890 | 2.7572 | 1.8957 |
| 009 | 5.2512 | 4.6571 | 0.6230 |
| 010 | 2.9959 | 2.3448 | 0.7975 |
| 011 | 3.2145 | 2.5110 | 0.6028 |
| 012 | 4.0803 | 2.0623 | 2.0375 |
| 014 | 4.5938 | 1.6515 | 2.1934 |
| 015 | 3.8861 | 0.6488 | 2.0814 |
| 016 | 2.2504 | 1.6488 | 0.6007 |
| 017 | 1.2459 | 1.0278 | 0.2478 |
| 018 | 3.8486 | 2.5536 | 0.9997 |
| Averages | 3.6149 | 2.2458 | 1.0396 |
+--------------+-----------+-------------+-------------+top_right_camera to top_lidar:
+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
| 000 | 2.7660 | 2.5611 | 0.3042 |
| 002 | 4.0954 | 2.0510 | 1.1788 |
| 003 | 3.6984 | 2.2732 | 1.3023 |
| 005 | 5.8833 | 2.9898 | 1.6971 |
| 006 | 2.7728 | 2.1626 | 0.3629 |
| 014 | 4.6533 | 1.4584 | 2.3132 |
| 015 | 5.2311 | 1.8507 | 2.4355 |
| 016 | 2.0678 | 1.5841 | 0.2236 |
| 017 | 2.5522 | 2.1189 | 0.6080 |
| 018 | 4.1791 | 2.7245 | 1.3214 |
| Averages | 3.7899 | 2.1774 | 1.1747 |
+--------------+-----------+-------------+-------------+
top_left_camera to base_link:
+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
| 000 | 27.1695 | 4.0105 |
| 001 | 27.1695 | 4.0105 |
| 002 | 27.1695 | 4.0105 |
| 003 | 27.1695 | 4.0105 |
| 004 | 27.1695 | 4.0105 |
| 005 | 27.1695 | 4.0105 |
| 006 | 27.1695 | 4.0105 |
| 009 | 27.1695 | 4.0105 |
| 010 | 27.1695 | 4.0105 |
| 011 | 27.1695 | 4.0105 |
| 012 | 27.1695 | 4.0105 |
| 014 | 27.1695 | 4.0105 |
| 015 | 27.1695 | 4.0105 |
| 016 | 27.1695 | 4.0105 |
| 017 | 27.1695 | 4.0105 |
| 018 | 27.1695 | 4.0105 |
| Averages | 27.1695 | 4.0105 |
+--------------+------------+-----------+
top_right_camera to base_link:
+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
| 000 | 38.4206 | 4.4965 |
| 001 | 38.4206 | 4.4965 |
| 002 | 38.4206 | 4.4965 |
| 003 | 38.4206 | 4.4965 |
| 004 | 38.4206 | 4.4965 |
| 005 | 38.4206 | 4.4965 |
| 006 | 38.4206 | 4.4965 |
| 009 | 38.4206 | 4.4965 |
| 010 | 38.4206 | 4.4965 |
| 011 | 38.4206 | 4.4965 |
| 012 | 38.4206 | 4.4965 |
| 014 | 38.4206 | 4.4965 |
| 015 | 38.4206 | 4.4965 |
| 016 | 38.4206 | 4.4965 |
| 017 | 38.4206 | 4.4965 |
| 018 | 38.4206 | 4.4965 |
| Averages | 38.4206 | 4.4965 |
+--------------+------------+-----------+
top_lidar to base_link:
+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
| 000 | 0.0000 | 0.0000 |
| 001 | 0.0000 | 0.0000 |
| 002 | 0.0000 | 0.0000 |
| 003 | 0.0000 | 0.0000 |
| 004 | 0.0000 | 0.0000 |
| 005 | 0.0000 | 0.0000 |
| 006 | 0.0000 | 0.0000 |
| 009 | 0.0000 | 0.0000 |
| 010 | 0.0000 | 0.0000 |
| 011 | 0.0000 | 0.0000 |
| 012 | 0.0000 | 0.0000 |
| 014 | 0.0000 | 0.0000 |
| 015 | 0.0000 | 0.0000 |
| 016 | 0.0000 | 0.0000 |
| 017 | 0.0000 | 0.0000 |
| 018 | 0.0000 | 0.0000 |
| Averages | 0.0000 | 0.0000 |
+--------------+------------+-----------+
Simulation:
Calibration:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 000 | 0.1747 | 0.0048 | 0.2409 |
| 001 | 0.1702 | 0.0046 | 0.2019 |
| 002 | 0.1663 | 0.0045 | 0.2059 |
| 003 | 0.1822 | 0.0051 | 0.3136 |
| 004 | 0.1677 | 0.0063 | 0.2076 |
| 005 | 0.2516 | 0.0059 | 0.1827 |
| 006 | 0.2386 | 0.0060 | 0.1786 |
| 007 | 0.4166 | 0.0058 | 0.4558 |
| 008 | 0.4413 | 0.0063 | 0.3389 |
| 009 | 0.2624 | 0.0062 | --- |
| 010 | 0.4157 | 0.0062 | --- |
| 011 | --- | 0.0067 | 0.3904 |
| 012 | 0.1698 | 0.0058 | 0.1337 |
| 013 | 0.1170 | 0.0067 | 0.1559 |
| 014 | 0.1682 | 0.0066 | 0.2689 |
| 015 | 0.1817 | 0.0063 | 0.1691 |
| 016 | 0.1703 | 0.0061 | 0.1482 |
| 018 | 0.3576 | 0.0061 | 0.3605 |
| 019 | 0.3622 | 0.0064 | 0.2696 |
| 020 | 0.2722 | 0.0065 | 0.2452 |
| 021 | 0.3693 | 0.0066 | 0.3638 |
| 022 | 0.3406 | 0.0064 | 0.3744 |
| 023 | 0.3197 | 0.0062 | 0.4457 |
| 024 | 0.1746 | 0.0065 | 0.2513 |
| 025 | 0.1149 | 0.0061 | 0.1399 |
| 026 | 0.2281 | 0.0061 | 0.2071 |
| 027 | 0.3911 | 0.0059 | 0.3925 |
| 028 | 0.3452 | 0.0064 | 0.4000 |
| 029 | 0.2650 | 0.0062 | 0.3031 |
| 030 | 0.1701 | 0.0064 | --- |
| 031 | 0.2559 | 0.0059 | 0.3126 |
| 032 | 0.4030 | 0.0056 | --- |
| 033 | --- | 0.0067 | 0.2430 |
| 034 | --- | 0.0058 | 0.2645 |
| 035 | 0.2938 | 0.0060 | 0.2534 |
| 036 | 0.4097 | 0.0059 | 0.2847 |
| 037 | 0.3250 | 0.0057 | 0.4188 |
| 038 | 0.3958 | 0.0060 | 0.4329 |
| 039 | 0.4352 | 0.0058 | 0.3949 |
| 040 | 0.3403 | 0.0056 | 0.3927 |
| 041 | 0.2512 | 0.0055 | 0.3302 |
| 042 | 0.2283 | 0.0054 | 0.2919 |
| 043 | 0.1434 | 0.0056 | 0.2176 |
| 044 | 0.2337 | 0.0051 | 0.2084 |
| 045 | 0.2614 | 0.0052 | 0.2624 |
| 046 | 0.2406 | 0.0047 | --- |
| 047 | 0.3390 | 0.0052 | 0.5405 |
| 048 | 0.2542 | 0.0052 | 0.4372 |
| 049 | 0.4253 | 0.0049 | --- |
| 050 | 0.3609 | 0.0053 | 0.3548 |
| 051 | 0.4242 | 0.0047 | 0.5463 |
| 052 | 0.4505 | 0.0043 | 0.5815 |
| 053 | 0.5030 | 0.0036 | --- |
| Averages | 0.2876 | 0.0058 | 0.3068 |
+------------+-----------------+-----------+------------------+top_left_camera to top_right_camera:
+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000 | 0.2556 | 0.1555 | 0.1182 | 1.9794 | 0.4632 |
| 002 | 0.3957 | 0.2494 | 0.1765 | 3.1672 | 0.0400 |
| 003 | 0.5176 | 0.3861 | 0.1302 | 2.5821 | 0.1747 |
| 005 | 0.9208 | 0.4721 | 0.4350 | 1.5703 | 0.1420 |
| 006 | 0.8880 | 0.8272 | 0.1871 | 2.5806 | 0.1421 |
| 014 | 0.5643 | 0.3938 | 0.2263 | 1.0497 | 0.0839 |
| 015 | 0.5477 | 0.2461 | 0.2552 | 1.4621 | 0.1226 |
| 016 | 0.3644 | 0.2964 | 0.0953 | 1.4866 | 0.0844 |
| 017 | 0.3077 | 0.1965 | 0.1110 | 1.4183 | 0.1789 |
| 018 | 0.3184 | 0.2345 | 0.0852 | 1.2571 | 0.2727 |
| Averages | 0.5080 | 0.3458 | 0.1820 | 1.8553 | 0.1705 |
+--------------+-----------+-------------+-------------+------------+-----------+top_left_camera to top_lidar:
+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
| 000 | 2.5749 | 2.1152 | 0.4102 |
| 001 | 1.8872 | 1.1928 | 0.6328 |
| 002 | 2.6904 | 1.9781 | 0.5289 |
| 003 | 1.7211 | 1.2775 | 0.2802 |
| 004 | 2.3270 | 1.8913 | 0.4353 |
| 005 | 3.8848 | 2.6145 | 0.6849 |
| 006 | 3.2939 | 2.3595 | 0.4635 |
| 009 | 3.3451 | 2.8958 | 0.4040 |
| 010 | 2.0014 | 1.4697 | 0.3808 |
| 011 | 3.1420 | 2.6899 | 0.2473 |
| 012 | 2.9675 | 2.5082 | 0.1762 |
| 014 | 2.5408 | 1.7449 | 0.7751 |
| 015 | 1.6158 | 1.2102 | 0.4231 |
| 016 | 2.6428 | 2.3458 | 0.3759 |
| 017 | 1.8528 | 1.2071 | 0.5871 |
| 018 | 3.2339 | 2.3781 | 1.0322 |
| Averages | 2.6076 | 1.9924 | 0.4898 |
+--------------+-----------+-------------+-------------+
top_right_camera to top_lidar:
+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
| 000 | 1.9936 | 1.6824 | 0.4377 |
| 002 | 1.9990 | 1.4739 | 0.3548 |
| 003 | 2.2321 | 1.6763 | 0.4160 |
| 005 | 3.1028 | 2.3127 | 0.9572 |
| 006 | 1.8070 | 1.5182 | 0.2725 |
| 014 | 1.5010 | 1.1028 | 0.2975 |
| 015 | 1.6386 | 1.2685 | 0.4195 |
| 016 | 1.6749 | 1.3092 | 0.3405 |
| 017 | 1.3900 | 1.2137 | 0.2609 |
| 018 | 2.9215 | 2.4190 | 0.6632 |
| Averages | 2.0261 | 1.5977 | 0.4420 |
+--------------+-----------+-------------+-------------+
top_left_camera to base_link:
+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
| 000 | 10.4347 | 0.8900 |
| 001 | 10.4347 | 0.8900 |
| 002 | 10.4347 | 0.8900 |
| 003 | 10.4347 | 0.8900 |
| 004 | 10.4347 | 0.8900 |
| 005 | 10.4347 | 0.8900 |
| 006 | 10.4347 | 0.8900 |
| 009 | 10.4347 | 0.8900 |
| 010 | 10.4347 | 0.8900 |
| 011 | 10.4347 | 0.8900 |
| 012 | 10.4347 | 0.8900 |
| 014 | 10.4347 | 0.8900 |
| 015 | 10.4347 | 0.8900 |
| 016 | 10.4347 | 0.8900 |
| 017 | 10.4347 | 0.8900 |
| 018 | 10.4347 | 0.8900 |
| Averages | 10.4347 | 0.8900 |
+--------------+------------+-----------+
top_right_camera to base_link:
+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
| 000 | 10.2985 | 1.3331 |
| 001 | 10.2985 | 1.3331 |
| 002 | 10.2985 | 1.3331 |
| 003 | 10.2985 | 1.3331 |
| 004 | 10.2985 | 1.3331 |
| 005 | 10.2985 | 1.3331 |
| 006 | 10.2985 | 1.3331 |
| 009 | 10.2985 | 1.3331 |
| 010 | 10.2985 | 1.3331 |
| 011 | 10.2985 | 1.3331 |
| 012 | 10.2985 | 1.3331 |
| 014 | 10.2985 | 1.3331 |
| 015 | 10.2985 | 1.3331 |
| 016 | 10.2985 | 1.3331 |
| 017 | 10.2985 | 1.3331 |
| 018 | 10.2985 | 1.3331 |
| Averages | 10.2985 | 1.3331 |
+--------------+------------+-----------+top_lidar to base_link:
+--------------+------------+-----------+
| Collection # | Trans (mm) | Rot (deg) |
+--------------+------------+-----------+
| 000 | 6.1498 | 0.0876 |
| 001 | 6.1498 | 0.0876 |
| 002 | 6.1498 | 0.0876 |
| 003 | 6.1498 | 0.0876 |
| 004 | 6.1498 | 0.0876 |
| 005 | 6.1498 | 0.0876 |
| 006 | 6.1498 | 0.0876 |
| 009 | 6.1498 | 0.0876 |
| 010 | 6.1498 | 0.0876 |
| 011 | 6.1498 | 0.0876 |
| 012 | 6.1498 | 0.0876 |
| 014 | 6.1498 | 0.0876 |
| 015 | 6.1498 | 0.0876 |
| 016 | 6.1498 | 0.0876 |
| 017 | 6.1498 | 0.0876 |
| 018 | 6.1498 | 0.0876 |
| Averages | 6.1498 | 0.0876 |
+--------------+------------+-----------+
Physical:
Calibration:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 000 | 276.0847 | 0.0983 | 177.7086 |
| 001 | 333.0664 | 0.1300 | 199.8883 |
| 002 | 363.7477 | 0.1256 | 239.0172 |
| 003 | 384.0595 | 0.0937 | 252.8402 |
| 004 | 395.3285 | 0.0953 | 263.8895 |
| 005 | 393.5271 | 0.1515 | 262.3082 |
| 006 | 356.9554 | 0.1308 | 231.1897 |
| 007 | 352.8017 | 0.1092 | 232.4032 |
| 008 | 238.9263 | 0.0991 | 121.0962 |
| 009 | 213.4474 | 0.0989 | 110.0344 |
| 010 | 139.1061 | 0.0940 | 80.7893 |
| 011 | 122.5287 | 0.0893 | 72.6305 |
| 012 | 107.8118 | 0.0925 | 71.6872 |
| 013 | 103.1728 | 0.1025 | 74.4856 |
| 014 | 96.0054 | 0.1148 | 72.8788 |
| 015 | 123.7385 | 0.1205 | 116.6639 |
| 016 | 129.2602 | 0.1100 | 117.6006 |
| 017 | 159.7937 | 0.1127 | 159.3254 |
| 018 | 178.6786 | 0.1078 | 168.7972 |
| 019 | 161.0808 | 0.1164 | 170.1356 |
| 027 | 295.8809 | 0.1571 | 256.0675 |
| 028 | 356.2531 | 0.1428 | 265.2996 |
| 029 | 376.8879 | 0.1692 | --- |
| 030 | 384.6041 | 0.1449 | --- |
| 031 | 374.7137 | 0.1396 | 252.9052 |
| 032 | 361.4625 | 0.1346 | 239.3378 |
| 033 | 344.6616 | 0.1335 | 221.8773 |
| 034 | 152.5879 | 0.1112 | 129.6849 |
| 035 | 91.6060 | 0.1071 | 83.8157 |
| 036 | 73.2003 | 0.1228 | 95.3536 |
| 037 | 88.0877 | 0.1153 | 66.0819 |
| 038 | 136.8428 | 0.0998 | 73.4051 |
| Averages | 239.5597 | 0.1178 | 162.6399 |
+------------+-----------------+-----------+------------------+
top_left_camera to top_right_camera:
+--------------+-------------------------------------------+------------------------------------------+------------------------------------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-------------------------------------------+------------------------------------------+------------------------------------------+------------+-----------+
| 000 | 16307858229056223232.0000 | 2195735270062788096.0000 | 6599746003250591744.0000 | 10863.5589 | 162.8752 |
| 001 | 10616650603167150080.0000 | 1941012628052120320.0000 | 1916088375497180160.0000 | 10857.1001 | 162.8754 |
| 002 | 17352426255940710400.0000 | 4504107103036100608.0000 | 3647164875057525248.0000 | 10893.6896 | 162.8754 |
| 007 | 9331426728702879744.0000 | 87950672279711648.0000 | 2944189042561146368.0000 | 10870.6274 | 162.8614 |
| 008 | 13841414641625143296.0000 | 3239255380495381504.0000 | 3263369866079790592.0000 | 10862.7960 | 162.8614 |
| 009 | 6755154168771401728.0000 | 771251281070504576.0000 | 846045532552854016.0000 | 10868.9843 | 162.8623 |
| 010 | 301109668841363395837952.0000 | 20068972554536137785344.0000 | 38309511116575140216832.0000 | 10847.1471 | 162.8621 |
| 011 | 278375530079749312.0000 | 108838956944483984.0000 | 102756373579274592.0000 | 10904.6573 | 162.8616 |
| 012 | inf | inf | inf | 10882.1587 | 162.8625 |
| 013 | 11238117972247790485504.0000 | 1794197472501245149184.0000 | 1610873582719516278784.0000 | 10832.3764 | 162.8624 |
| 014 | 262726487986262957930565328766500864.0000 | 22790746860198455998880083957776384.0000 | 18531925745554573450749722394361856.0000 | 10834.7908 | 162.8625 |
| 019 | 174622655448213127168.0000 | 14955913658327105536.0000 | 59350757258108600320.0000 | 10844.9078 | 162.8749 |
| 020 | 12971084266948782080.0000 | 1365506635069250048.0000 | 4357127199194639872.0000 | 10843.9150 | 162.8696 |
| 021 | 12930036788994723840.0000 | 1043691508015392128.0000 | 4569193000570508288.0000 | 10872.5403 | 162.8664 |
| 022 | 271708175215227818192404480.0000 | 87257545614357767460487168.0000 | 98267012293469812467695616.0000 | 10853.4852 | 162.8620 |
| Averages | inf | inf | inf | 10862.1823 | 162.8663 |
+--------------+-------------------------------------------+------------------------------------------+------------------------------------------+------------+-----------+top_left_camera to top_lidar:
+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
| 000 | 125.2144 | 121.1221 | 31.7505 |
| 001 | 130.7647 | 122.1221 | 46.7505 |
| 002 | 126.2537 | 110.1221 | 61.7505 |
| 003 | 115.7381 | 99.1221 | 59.7505 |
| 007 | 14.7273 | 8.8779 | 11.7505 |
| 008 | 16.9307 | 9.8779 | 13.7505 |
| 009 | 21.1586 | 19.8779 | 7.2495 |
| 010 | 36.2456 | 31.8779 | 17.2495 |
| 011 | 42.0716 | 36.8779 | 20.2495 |
| 012 | 56.3389 | 46.8779 | 31.2495 |
| 013 | 75.3138 | 64.8779 | 38.2495 |
| 014 | 76.3490 | 64.8779 | 40.2495 |
| 018 | 249.1774 | 249.1221 | 5.2495 |
| 019 | 192.1691 | 192.1221 | 4.2495 |
| 020 | 85.1110 | 81.1221 | 25.7505 |
| 021 | 27.2846 | 24.1221 | 12.7505 |
| 022 | 74.0593 | 40.1221 | 62.2495 |
| Averages | 86.1710 | 77.8307 | 28.8382 |
+--------------+-----------+-------------+-------------+top_right_camera to top_lidar:
+--------------+-----------+-------------+-------------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) |
+--------------+-----------+-------------+-------------+
| 000 | 67.3464 | 63.1665 | 23.3565 |
| 001 | 59.6961 | 50.1665 | 32.3565 |
| 002 | 45.9691 | 40.1665 | 22.3565 |
| 006 | 58.8716 | 56.8335 | 15.3565 |
| 007 | 52.1095 | 51.8335 | 5.3565 |
| 008 | 52.1095 | 51.8335 | 5.3565 |
| 009 | 48.1653 | 47.8335 | 5.6435 |
| 010 | 46.2148 | 43.8335 | 14.6435 |
| 011 | 45.7998 | 41.8335 | 18.6435 |
| 012 | 46.3219 | 39.8335 | 23.6435 |
| 013 | 48.5525 | 41.8335 | 24.6435 |
| 014 | 47.9227 | 39.8335 | 26.6435 |
| 017 | 174.7072 | 168.1665 | 47.3565 |
| 019 | 143.2058 | 143.1665 | 3.3565 |
| 020 | 45.9246 | 41.1665 | 20.3565 |
| 021 | 3.8751 | 2.8335 | 2.6435 |
| 022 | 31.0621 | 14.1665 | 27.6435 |
| Averages | 59.8738 | 55.2059 | 18.7857 |
+--------------+-----------+-------------+-------------+
Physical anchored:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 000 | 276.1004 | 0.0935 | 177.7561 |
| 001 | 333.0737 | 0.1213 | 199.9009 |
| 002 | 363.7478 | 0.1198 | 239.0261 |
| 003 | 384.0548 | 0.0891 | 252.8297 |
| 004 | 395.3205 | 0.0906 | 263.8689 |
| 005 | 393.5184 | 0.1491 | 262.2873 |
| 006 | 356.9531 | 0.1280 | 231.1886 |
| 007 | 352.8004 | 0.1054 | 232.4016 |
| 008 | 238.9397 | 0.0971 | 121.1126 |
| 009 | 213.4596 | 0.0936 | 110.0641 |
| 010 | 139.1039 | 0.0909 | 80.7932 |
| 011 | 122.5209 | 0.0839 | 72.6149 |
| 012 | 107.7987 | 0.0865 | 71.6612 |
| 013 | 103.1567 | 0.0936 | 74.4535 |
| 014 | 95.9994 | 0.1065 | 72.8532 |
| 015 | 123.7443 | 0.1155 | 116.6876 |
| 016 | 129.2693 | 0.1048 | 117.6170 |
| 017 | 159.8015 | 0.1082 | 159.3327 |
| 018 | 178.6860 | 0.1033 | 168.8144 |
| 019 | 161.0960 | 0.1087 | 170.1659 |
| 027 | 295.8873 | 0.1440 | 256.0899 |
| 028 | 356.2548 | 0.1347 | 265.3142 |
| 029 | 376.8892 | 0.1608 | --- |
| 030 | 384.6042 | 0.1395 | --- |
| 031 | 374.7082 | 0.1356 | 252.9031 |
| 032 | 361.4537 | 0.1285 | 239.3237 |
| 033 | 344.6476 | 0.1243 | 221.8471 |
| 034 | 152.5988 | 0.1073 | 129.7134 |
| 035 | 91.6364 | 0.1054 | 83.8481 |
| 036 | 73.2257 | 0.1139 | 95.4034 |
| 037 | 88.1060 | 0.1102 | 66.1385 |
| 038 | 136.8419 | 0.0968 | 73.3950 |
| Averages | 239.5625 | 0.1122 | 162.6469 |
+------------+-----------------+-----------+------------------+from atlascar2.
manuelgitgomes
commented on September 2, 2024
OpenCV calibration:
Simulation:
Calib:
Partial detection removed: label from collection 000, sensor top_left_camera
Partial detection removed: label from collection 001, sensor top_left_camera
Partial detection removed: label from collection 002, sensor top_left_camera
Partial detection removed: label from collection 003, sensor top_left_camera
Partial detection removed: label from collection 004, sensor top_left_camera
Partial detection removed: label from collection 005, sensor top_left_camera
Partial detection removed: label from collection 006, sensor top_left_camera
Partial detection removed: label from collection 007, sensor top_left_camera
Partial detection removed: label from collection 008, sensor top_left_camera
Partial detection removed: label from collection 009, sensor top_left_camera
Partial detection removed: label from collection 010, sensor top_left_camera
Partial detection removed: label from collection 011, sensor top_right_camera
Partial detection removed: label from collection 012, sensor top_left_camera
Partial detection removed: label from collection 013, sensor top_left_camera
Partial detection removed: label from collection 014, sensor top_left_camera
Partial detection removed: label from collection 015, sensor top_left_camera
Partial detection removed: label from collection 016, sensor top_left_camera
Partial detection removed: label from collection 018, sensor top_left_camera
Partial detection removed: label from collection 019, sensor top_left_camera
Partial detection removed: label from collection 020, sensor top_left_camera
Partial detection removed: label from collection 021, sensor top_left_camera
Partial detection removed: label from collection 022, sensor top_left_camera
Partial detection removed: label from collection 023, sensor top_left_camera
Partial detection removed: label from collection 024, sensor top_left_camera
Partial detection removed: label from collection 025, sensor top_left_camera
Partial detection removed: label from collection 026, sensor top_left_camera
Partial detection removed: label from collection 027, sensor top_left_camera
Partial detection removed: label from collection 028, sensor top_left_camera
Partial detection removed: label from collection 029, sensor top_left_camera
Partial detection removed: label from collection 030, sensor top_left_camera
Partial detection removed: label from collection 031, sensor top_left_camera
Partial detection removed: label from collection 032, sensor top_left_camera
Partial detection removed: label from collection 033, sensor top_right_camera
Partial detection removed: label from collection 034, sensor top_right_camera
Partial detection removed: label from collection 035, sensor top_left_camera
Partial detection removed: label from collection 036, sensor top_left_camera
Partial detection removed: label from collection 037, sensor top_left_camera
Partial detection removed: label from collection 038, sensor top_left_camera
Partial detection removed: label from collection 039, sensor top_left_camera
Partial detection removed: label from collection 040, sensor top_left_camera
Partial detection removed: label from collection 041, sensor top_left_camera
Partial detection removed: label from collection 042, sensor top_left_camera
Partial detection removed: label from collection 043, sensor top_left_camera
Partial detection removed: label from collection 044, sensor top_left_camera
Partial detection removed: label from collection 045, sensor top_left_camera
Partial detection removed: label from collection 046, sensor top_left_camera
Partial detection removed: label from collection 047, sensor top_left_camera
Partial detection removed: label from collection 048, sensor top_left_camera
Partial detection removed: label from collection 049, sensor top_left_camera
Partial detection removed: label from collection 050, sensor top_left_camera
Partial detection removed: label from collection 051, sensor top_left_camera
Partial detection removed: label from collection 052, sensor top_left_camera
Partial detection removed: label from collection 053, sensor top_left_camera
Using 0 collections.Eval:
---Real:
Calib:
Using 1 collections.
---------------------
Starting stereo calibration ...
---------------------
Done!
------
Calibration results:
------
K_left [[ 384.93596679 0. 339.64328662]
[ 0. -386.13914021 508.21039543]
[ 0. 0. 0. ]]
D_left [[-7.72662030e-18]
[-2.47230912e-17]
[-3.55118281e-18]
[-1.28061645e-18]
[-5.38690677e-17]]
K_right [[ 284.07204436 0. 224.94966603]
[ 0. -279.07936111 313.67025131]
[ 0. 0. 0. ]]
D_right [[-6.83403691e-18]
[-2.12092850e-17]
[-3.49676778e-18]
[-1.13062231e-18]
[-4.44920030e-17]]
R [[1. 0. 0.]
[0. 1. 0.]
[0. 0. 1.]]
T [[ 7.91875408e-20]
[-1.12394643e-19]
[-1.00000000e-19]]
E [[ 0.00000000e+00 1.00000000e-19 -1.12394643e-19]
[-1.00000000e-19 0.00000000e+00 -7.91875408e-20]
[ 1.12394643e-19 7.91875408e-20 0.00000000e+00]]
F [[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
Eval:
--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000 | 24.6244 | 24.3456 | 3.0778 | 69.9320 | 1.9444 |
| 001 | 39.4819 | 38.8817 | 6.6901 | 133.0294 | 0.9898 |
| 002 | 51.6244 | 50.7327 | 9.4113 | 195.8321 | 0.6420 |
| 007 | 51.1538 | 50.1870 | 8.2860 | 155.4212 | 3.0383 |
| 008 | 49.3220 | 48.6434 | 6.8716 | 147.4777 | 3.7916 |
| 009 | 38.6141 | 37.6203 | 5.1738 | 92.9789 | 4.3906 |
| 010 | 32.8230 | 31.2523 | 5.4732 | 66.5689 | 4.6620 |
| 011 | 27.7483 | 26.0989 | 4.3803 | 55.9719 | 4.8102 |
| 012 | 20.8093 | 18.5997 | 3.9512 | 56.1963 | 5.0868 |
| 013 | 12.2592 | 8.4583 | 4.0413 | 76.4793 | 5.4529 |
| 014 | 10.1739 | 7.2463 | 3.6627 | 64.4525 | 5.4062 |
| 019 | 6.8290 | 3.2035 | 5.5864 | 34.3403 | 2.7879 |
| 020 | 18.0524 | 17.8230 | 1.8660 | 51.6582 | 0.7942 |
| 021 | 28.4568 | 27.9685 | 4.9231 | 96.0286 | 1.3179 |
| 022 | 48.9779 | 48.0408 | 9.4952 | 191.0570 | 0.7424 |
| Averages | 30.7300 | 29.2735 | 5.5260 | 99.1616 | 3.0571 |
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Hello @miguelriemoliveira! I have some questions about the results.
In simulation, I tried two different calibrations, one using an anchored sensor, and one without. The one without performed better in every evaluation except in sensor to frame, which is the most important in my dissertation. Is it relevant to present both calibrations? Should I only present the one with the anchored sensor?
In the real environment, the results were bad. Initially, they would not run due to the value of the third column and third row in the intrinsic parameter matrix was 0, when it's always 1. After that change, they reached infinite values in rgb to rgb evaluation. Are these results presentable? If not, should I try to calibrate intrinsics using the bag file? Or should I simply present the unsatisfiable result of the calibration and argue that no evaluation is needed?
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Hi @manuelgitgomes ,
In simulation, I tried two different calibrations, one using an anchored sensor, and one without. The one without performed better in every evaluation except in sensor to frame, which is the most important in my dissertation. Is it relevant to present both calibrations? Should I only present the one with the anchored sensor?
I think presenting both is relevant. Just explain properly the differences between both.
In the real environment, the results were bad. Initially, they would not run due to the value of the third column and third row in the intrinsic parameter matrix was 0, when it's always 1. After that change, they reached infinite values in rgb to rgb evaluation. Are these results presentable? If not, should I try to calibrate intrinsics using the bag file? Or should I simply present the unsatisfiable result of the calibration and argue that no evaluation is needed?
If you have time you could try to get the intrinsics of the cameras, and later to change the camera info messages in the bag to have these more accurate intrinsic values. But that's not something you can do in a week with the simultaneous task of writing the thesis... You could describe the procedure, say that it failed and explain why.
Tables with infinite errors I think are not a good thing to insert in the thesis.
Keep it up!
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Cross-collection:
Simulated:
top left camera to top right camera:
+-----------------+-----------+-------------+-------------+------------+-----------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+-----------------+-----------+-------------+-------------+------------+-----------+
| 000-000 | 0.2556 | 0.1555 | 0.1182 | 1.9794 | 0.4632 |
| 000-002 | 0.3042 | 0.1600 | 0.1830 | 1.5116 | 0.2103 |
| 000-003 | 0.3838 | 0.2406 | 0.1815 | 4.1979 | 0.2644 |
| 000-005 | 0.6321 | 0.4290 | 0.2526 | 3.3498 | 0.4647 |
| 000-006 | 0.5249 | 0.3388 | 0.2581 | 5.8086 | 0.3474 |
| 000-014 | 0.6440 | 0.4820 | 0.2624 | 4.6392 | 0.4433 |
| 000-015 | 0.6130 | 0.3767 | 0.2990 | 3.4351 | 0.3694 |
| 000-016 | 0.3734 | 0.2591 | 0.1458 | 2.5066 | 0.5439 |
| 000-017 | 0.4135 | 0.2771 | 0.1828 | 2.2199 | 0.4765 |
| 000-018 | 0.5001 | 0.3579 | 0.2145 | 1.6849 | 0.2866 |
| 002-000 | 0.9228 | 0.8438 | 0.2388 | 2.8810 | 0.5527 |
| 002-002 | 0.3957 | 0.2494 | 0.1765 | 3.1672 | 0.0400 |
| 002-003 | 0.4981 | 0.2861 | 0.2749 | 0.9229 | 0.0874 |
| 002-005 | 0.6568 | 0.4446 | 0.3053 | 1.3953 | 0.2871 |
| 002-006 | 0.4875 | 0.2430 | 0.2864 | 1.2257 | 0.1697 |
| 002-014 | 1.0808 | 0.9593 | 0.3654 | 6.2306 | 0.2662 |
| 002-015 | 1.2378 | 1.0909 | 0.4107 | 3.6374 | 0.2381 |
| 002-016 | 1.1494 | 1.0770 | 0.2283 | 4.9903 | 0.3778 |
| 002-017 | 1.3070 | 1.2080 | 0.3094 | 2.9241 | 0.3133 |
| 002-018 | 1.7980 | 1.7099 | 0.2929 | 3.3141 | 0.1429 |
| 003-000 | 1.3486 | 1.3062 | 0.1673 | 4.8308 | 0.4520 |
| 003-002 | 0.5373 | 0.3972 | 0.2069 | 5.0997 | 0.1362 |
| 003-003 | 0.5176 | 0.3861 | 0.1302 | 2.5821 | 0.1747 |
| 003-005 | 0.7665 | 0.5386 | 0.3367 | 3.3329 | 0.3540 |
| 003-006 | 0.5511 | 0.3741 | 0.2507 | 0.7832 | 0.2129 |
| 003-014 | 1.5591 | 1.4894 | 0.1892 | 7.3969 | 0.3358 |
| 003-015 | 1.6889 | 1.5852 | 0.3818 | 5.3273 | 0.3431 |
| 003-016 | 1.7116 | 1.6697 | 0.1964 | 6.5460 | 0.3811 |
| 003-017 | 1.8491 | 1.7939 | 0.2115 | 4.7951 | 0.4027 |
| 003-018 | 2.6749 | 2.6242 | 0.2254 | 5.2328 | 0.2468 |
| 005-000 | 0.6853 | 0.4216 | 0.3516 | 1.0596 | 0.6718 |
| 005-002 | 0.7615 | 0.4091 | 0.3663 | 0.9425 | 0.1254 |
| 005-003 | 0.8055 | 0.4125 | 0.4352 | 2.4781 | 0.0972 |
| 005-005 | 0.9208 | 0.4721 | 0.4350 | 1.5703 | 0.1420 |
| 005-006 | 0.8971 | 0.5513 | 0.4482 | 3.8640 | 0.0905 |
| 005-014 | 0.6763 | 0.4174 | 0.3664 | 4.6431 | 0.1228 |
| 005-015 | 0.5715 | 0.3789 | 0.2767 | 3.0291 | 0.1906 |
| 005-016 | 0.6315 | 0.3356 | 0.3259 | 2.8971 | 0.2811 |
| 005-017 | 0.8074 | 0.4395 | 0.4487 | 1.6252 | 0.1933 |
| 005-018 | 1.0056 | 0.5869 | 0.4807 | 1.4734 | 0.1464 |
| 006-000 | 1.9375 | 1.8779 | 0.2795 | 5.6590 | 0.6818 |
| 006-002 | 1.2945 | 1.2231 | 0.1972 | 5.7536 | 0.1184 |
| 006-003 | 1.3686 | 1.2907 | 0.2555 | 3.9457 | 0.1088 |
| 006-005 | 1.0687 | 0.9001 | 0.2317 | 4.3639 | 0.1746 |
| 006-006 | 0.8880 | 0.8272 | 0.1871 | 2.5806 | 0.1421 |
| 006-014 | 1.9139 | 1.8227 | 0.3347 | 6.3850 | 0.1546 |
| 006-015 | 2.0977 | 2.0015 | 0.3987 | 6.7674 | 0.1660 |
| 006-016 | 2.0538 | 1.9890 | 0.3385 | 6.1895 | 0.3352 |
| 006-017 | 2.2839 | 2.2043 | 0.4079 | 5.7890 | 0.1975 |
| 006-018 | 3.2556 | 3.1736 | 0.4174 | 6.0868 | 0.1328 |
| 014-000 | 1.1236 | 1.0665 | 0.1343 | 4.7300 | 0.7543 |
| 014-002 | 1.8724 | 1.8288 | 0.2376 | 4.2195 | 0.2644 |
| 014-003 | 1.9085 | 1.8500 | 0.2237 | 5.8839 | 0.2156 |
| 014-005 | 2.7034 | 2.6434 | 0.4209 | 5.2658 | 0.0755 |
| 014-006 | 3.0255 | 2.9728 | 0.3850 | 6.7666 | 0.1285 |
| 014-014 | 0.5643 | 0.3938 | 0.2263 | 1.0497 | 0.0839 |
| 014-015 | 0.6532 | 0.4432 | 0.2873 | 6.6693 | 0.2745 |
| 014-016 | 0.4565 | 0.3364 | 0.1481 | 1.2220 | 0.1611 |
| 014-017 | 0.4822 | 0.3202 | 0.2060 | 5.0176 | 0.1874 |
| 014-018 | 0.7336 | 0.5121 | 0.2807 | 4.7227 | 0.2558 |
| 015-000 | 0.6712 | 0.5414 | 0.2260 | 3.1551 | 0.8155 |
| 015-002 | 1.2191 | 1.1461 | 0.2101 | 3.6768 | 0.2395 |
| 015-003 | 1.2853 | 1.1799 | 0.2528 | 3.0108 | 0.1962 |
| 015-005 | 1.8285 | 1.7531 | 0.2701 | 2.9813 | 0.1057 |
| 015-006 | 1.8813 | 1.8156 | 0.3490 | 4.2923 | 0.1979 |
| 015-014 | 0.5058 | 0.1973 | 0.3700 | 8.5795 | 0.0946 |
| 015-015 | 0.5477 | 0.2461 | 0.2552 | 1.4621 | 0.1226 |
| 015-016 | 0.3946 | 0.2174 | 0.2272 | 6.6745 | 0.3379 |
| 015-017 | 0.4187 | 0.2771 | 0.1867 | 2.9058 | 0.0515 |
| 015-018 | 0.6925 | 0.4477 | 0.3590 | 3.2500 | 0.1681 |
| 016-000 | 0.3813 | 0.2872 | 0.1243 | 2.3689 | 0.7303 |
| 016-002 | 0.9118 | 0.8445 | 0.1837 | 1.8159 | 0.2992 |
| 016-003 | 0.9213 | 0.8341 | 0.1836 | 4.2176 | 0.2525 |
| 016-005 | 1.4937 | 1.4222 | 0.2504 | 3.4242 | 0.1516 |
| 016-006 | 1.8589 | 1.8203 | 0.1963 | 5.6487 | 0.1506 |
| 016-014 | 0.9281 | 0.8152 | 0.2514 | 3.6373 | 0.1592 |
| 016-015 | 0.9385 | 0.7962 | 0.3062 | 4.1375 | 0.3409 |
| 016-016 | 0.3644 | 0.2964 | 0.0953 | 1.4866 | 0.0844 |
| 016-017 | 0.4613 | 0.3276 | 0.2033 | 2.6257 | 0.2598 |
| 016-018 | 0.6500 | 0.4887 | 0.2183 | 2.2078 | 0.3070 |
| 017-000 | 0.2847 | 0.1517 | 0.1696 | 1.7322 | 0.8203 |
| 017-002 | 0.4155 | 0.2874 | 0.1877 | 2.2143 | 0.3234 |
| 017-003 | 0.4465 | 0.3301 | 0.1771 | 1.5433 | 0.2700 |
| 017-005 | 0.6320 | 0.4836 | 0.2094 | 1.3342 | 0.0873 |
| 017-006 | 0.4630 | 0.3137 | 0.2254 | 3.2361 | 0.1909 |
| 017-014 | 0.5075 | 0.2301 | 0.3205 | 6.8969 | 0.1069 |
| 017-015 | 0.5237 | 0.2314 | 0.2635 | 1.3547 | 0.2943 |
| 017-016 | 0.3088 | 0.1420 | 0.1934 | 5.0589 | 0.1787 |
| 017-017 | 0.3077 | 0.1965 | 0.1110 | 1.4183 | 0.1789 |
| 017-018 | 0.4626 | 0.2935 | 0.2233 | 1.9078 | 0.2943 |
| 018-000 | 0.2567 | 0.1541 | 0.1214 | 1.0287 | 0.8311 |
| 018-002 | 0.2886 | 0.1808 | 0.1336 | 1.4954 | 0.3164 |
| 018-003 | 0.3546 | 0.2193 | 0.1697 | 1.6388 | 0.2598 |
| 018-005 | 0.4035 | 0.2657 | 0.1601 | 1.0256 | 0.0756 |
| 018-006 | 0.4147 | 0.2271 | 0.2478 | 3.4111 | 0.1925 |
| 018-014 | 0.4219 | 0.2389 | 0.2080 | 6.2251 | 0.0942 |
| 018-015 | 0.4785 | 0.2037 | 0.2866 | 1.5376 | 0.2659 |
| 018-016 | 0.2580 | 0.1452 | 0.1421 | 4.3560 | 0.2104 |
| 018-017 | 0.3253 | 0.1824 | 0.1833 | 0.8003 | 0.1471 |
| 018-018 | 0.3184 | 0.2345 | 0.0852 | 1.2571 | 0.2727 |
| Averages | 0.9306 | 0.7792 | 0.2535 | 3.5163 | 0.2653 |
+-----------------+-----------+-------------+-------------+------------+-----------+top lidar to top left camera:
+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
| 000-000 | 2.5749 | 2.1152 | 0.4102 |
| 000-001 | 3.3854 | 3.0071 | 0.3970 |
| 000-002 | 2.0879 | 1.5415 | 0.5651 |
| 000-003 | 3.0161 | 2.0960 | 0.5775 |
| 000-004 | 2.6198 | 1.9918 | 0.6493 |
| 000-005 | 3.5530 | 2.6806 | 0.3832 |
| 000-006 | 2.8362 | 2.0894 | 0.2417 |
| 000-009 | 4.8964 | 3.3294 | 0.1968 |
| 000-010 | 3.1457 | 2.7075 | 0.3203 |
| 000-011 | 4.1472 | 2.8363 | 0.7290 |
| 000-012 | 3.1471 | 2.4350 | 0.3004 |
| 000-014 | 2.8031 | 1.7659 | 0.5620 |
| 000-015 | 2.1316 | 1.4719 | 0.3491 |
| 000-016 | 2.7527 | 2.1783 | 0.2596 |
| 000-017 | 2.3809 | 2.1547 | 0.2966 |
| 000-018 | 3.1643 | 2.5129 | 0.4965 |
| 001-000 | 1.4295 | 1.1111 | 0.4329 |
| 001-001 | 1.8872 | 1.1928 | 0.6328 |
| 001-002 | 2.3088 | 1.6349 | 1.1105 |
| 001-003 | 3.0751 | 2.1652 | 0.6983 |
| 001-004 | 1.9452 | 1.5475 | 0.6509 |
| 001-005 | 3.4501 | 2.9224 | 0.2378 |
| 001-006 | 2.6451 | 2.0372 | 0.5265 |
| 001-009 | 3.1369 | 2.9523 | 0.4943 |
| 001-010 | 3.9072 | 3.1688 | 0.9022 |
| 001-011 | 2.2824 | 1.8470 | 0.3174 |
| 001-012 | 3.3300 | 2.6229 | 0.6827 |
| 001-014 | 1.0561 | 0.6030 | 0.5294 |
| 001-015 | 1.8981 | 1.4545 | 0.4855 |
| 001-016 | 2.0818 | 1.7142 | 0.6036 |
| 001-017 | 1.5199 | 1.0686 | 0.2471 |
| 001-018 | 1.1051 | 0.8827 | 0.3764 |
| 002-000 | 3.1723 | 2.3053 | 0.2787 |
| 002-001 | 4.2396 | 3.6785 | 0.2653 |
| 002-002 | 2.6904 | 1.9781 | 0.5289 |
| 002-003 | 2.0362 | 1.6377 | 0.2701 |
| 002-004 | 2.2900 | 1.9639 | 0.2639 |
| 002-005 | 2.4706 | 1.9345 | 0.2667 |
| 002-006 | 1.8468 | 1.3538 | 0.2913 |
| 002-009 | 6.4802 | 4.5633 | 0.5672 |
| 002-010 | 4.0134 | 3.3025 | 0.5768 |
| 002-011 | 4.9871 | 3.3139 | 0.7470 |
| 002-012 | 3.9102 | 2.8931 | 0.5157 |
| 002-014 | 3.1560 | 1.6708 | 0.6397 |
| 002-015 | 2.9165 | 1.7645 | 0.6270 |
| 002-016 | 3.7274 | 3.1753 | 0.3021 |
| 002-017 | 3.6366 | 2.7508 | 0.4531 |
| 002-018 | 4.7154 | 3.9333 | 0.3693 |
| 003-000 | 2.9560 | 2.1194 | 0.3000 |
| 003-001 | 3.9681 | 3.2934 | 0.2366 |
| 003-002 | 2.2711 | 1.6646 | 0.3965 |
| 003-003 | 1.7211 | 1.2775 | 0.2802 |
| 003-004 | 1.9389 | 1.5563 | 0.2856 |
| 003-005 | 2.3035 | 1.6921 | 0.3459 |
| 003-006 | 1.9732 | 1.4386 | 0.4600 |
| 003-009 | 6.2493 | 4.2092 | 0.5598 |
| 003-010 | 3.8711 | 3.1537 | 0.6965 |
| 003-011 | 4.8555 | 3.1717 | 1.0822 |
| 003-012 | 3.7179 | 2.8644 | 0.5853 |
| 003-014 | 3.1349 | 1.8166 | 0.6143 |
| 003-015 | 2.5401 | 1.4357 | 0.7698 |
| 003-016 | 3.3063 | 2.8042 | 0.2349 |
| 003-017 | 3.1940 | 2.4954 | 0.4342 |
| 003-018 | 4.5194 | 3.3717 | 0.8989 |
| 004-000 | 1.7423 | 1.2322 | 0.5599 |
| 004-001 | 3.4524 | 2.7593 | 0.5103 |
| 004-002 | 1.7924 | 1.2755 | 0.5943 |
| 004-003 | 2.6523 | 2.0335 | 0.5089 |
| 004-004 | 2.3270 | 1.8913 | 0.4353 |
| 004-005 | 2.9509 | 2.3078 | 0.2931 |
| 004-006 | 2.6459 | 2.0826 | 0.2408 |
| 004-009 | 2.1853 | 1.5165 | 0.5078 |
| 004-010 | 2.8868 | 2.2181 | 0.9998 |
| 004-011 | 1.8093 | 1.4301 | 0.3543 |
| 004-012 | 2.4469 | 1.9856 | 0.4545 |
| 004-014 | 1.4892 | 1.1954 | 0.4051 |
| 004-015 | 1.2744 | 0.9338 | 0.3973 |
| 004-016 | 3.0032 | 2.6063 | 0.4726 |
| 004-017 | 2.7479 | 1.6449 | 1.2026 |
| 004-018 | 3.1951 | 2.0623 | 1.3245 |
| 005-000 | 5.6488 | 3.6347 | 1.4279 |
| 005-001 | 6.5972 | 4.8988 | 1.1805 |
| 005-002 | 4.7783 | 3.1573 | 0.8509 |
| 005-003 | 2.8136 | 1.9729 | 0.8838 |
| 005-004 | 3.9635 | 2.7102 | 1.0441 |
| 005-005 | 3.8848 | 2.6145 | 0.6849 |
| 005-006 | 2.8431 | 1.8421 | 0.6241 |
| 005-009 | 9.1805 | 6.6407 | 0.8016 |
| 005-010 | 6.0566 | 4.8093 | 0.4166 |
| 005-011 | 6.8163 | 4.6163 | 0.4959 |
| 005-012 | 5.4803 | 3.9988 | 0.6415 |
| 005-014 | 5.2756 | 3.5323 | 1.0829 |
| 005-015 | 4.9176 | 2.8816 | 1.3839 |
| 005-016 | 5.6592 | 4.4870 | 0.5346 |
| 005-017 | 5.6272 | 4.0614 | 0.9624 |
| 005-018 | 7.4777 | 5.6891 | 0.7065 |
| 006-000 | 6.0535 | 3.7996 | 1.2934 |
| 006-001 | 7.4785 | 5.8467 | 1.2784 |
| 006-002 | 5.1364 | 3.4322 | 1.0525 |
| 006-003 | 2.8165 | 2.0571 | 0.6332 |
| 006-004 | 4.2308 | 3.2778 | 0.7684 |
| 006-005 | 4.4426 | 3.1455 | 0.5130 |
| 006-006 | 3.2939 | 2.3595 | 0.4635 |
| 006-009 | 10.0553 | 6.8879 | 1.6530 |
| 006-010 | 6.3622 | 4.8969 | 0.6650 |
| 006-011 | 7.6527 | 5.0093 | 1.0448 |
| 006-012 | 5.9326 | 4.1615 | 1.0545 |
| 006-014 | 5.5329 | 2.7987 | 1.5309 |
| 006-015 | 5.1144 | 2.7519 | 1.3474 |
| 006-016 | 6.1329 | 4.9317 | 1.1602 |
| 006-017 | 6.2582 | 4.6324 | 0.9749 |
| 006-018 | 8.4161 | 6.5142 | 1.2409 |
| 009-000 | 3.5974 | 2.9882 | 0.6917 |
| 009-001 | 3.2575 | 2.6093 | 0.6902 |
| 009-002 | 2.6140 | 1.5640 | 0.7303 |
| 009-003 | 3.3657 | 2.4734 | 1.5213 |
| 009-004 | 2.8889 | 1.9783 | 0.7143 |
| 009-005 | 3.9082 | 2.4507 | 1.2393 |
| 009-006 | 2.0806 | 1.7835 | 0.5945 |
| 009-009 | 3.3451 | 2.8958 | 0.4040 |
| 009-010 | 2.6760 | 2.1150 | 0.3635 |
| 009-011 | 2.9546 | 2.3022 | 0.4617 |
| 009-012 | 2.9960 | 2.2453 | 0.8315 |
| 009-014 | 3.3909 | 2.7594 | 0.9854 |
| 009-015 | 2.3861 | 2.0205 | 0.3628 |
| 009-016 | 1.9050 | 1.3568 | 0.3512 |
| 009-017 | 1.1532 | 0.7247 | 0.3734 |
| 009-018 | 2.2612 | 1.9560 | 0.3647 |
| 010-000 | 4.0618 | 3.5928 | 0.2330 |
| 010-001 | 2.4052 | 1.8208 | 0.4009 |
| 010-002 | 2.9969 | 2.3490 | 0.3341 |
| 010-003 | 4.3912 | 3.3164 | 0.5163 |
| 010-004 | 2.9315 | 2.2533 | 0.4857 |
| 010-005 | 4.7074 | 3.5083 | 0.4852 |
| 010-006 | 3.3901 | 2.4038 | 0.4727 |
| 010-009 | 3.1822 | 2.5148 | 0.2159 |
| 010-010 | 2.0014 | 1.4697 | 0.3808 |
| 010-011 | 2.4401 | 1.6912 | 0.4787 |
| 010-012 | 2.6410 | 2.2929 | 0.2680 |
| 010-014 | 2.4549 | 2.0275 | 0.3887 |
| 010-015 | 1.5209 | 1.1540 | 0.2702 |
| 010-016 | 3.4990 | 2.2377 | 0.6850 |
| 010-017 | 1.8919 | 1.2947 | 0.4738 |
| 010-018 | 1.9601 | 1.5628 | 0.2456 |
| 011-000 | 3.2087 | 2.6218 | 0.4238 |
| 011-001 | 2.8516 | 1.8038 | 0.4020 |
| 011-002 | 3.0351 | 2.0482 | 0.6963 |
| 011-003 | 3.9096 | 3.0327 | 0.4174 |
| 011-004 | 2.6456 | 1.9354 | 0.5155 |
| 011-005 | 3.7709 | 2.8036 | 0.7780 |
| 011-006 | 2.7250 | 2.0832 | 0.6045 |
| 011-009 | 3.6514 | 3.1161 | 0.2350 |
| 011-010 | 2.9101 | 2.6418 | 0.2462 |
| 011-011 | 3.1420 | 2.6899 | 0.2473 |
| 011-012 | 3.4192 | 3.0324 | 0.2218 |
| 011-014 | 2.1409 | 1.5119 | 0.5188 |
| 011-015 | 2.3866 | 1.8725 | 0.4313 |
| 011-016 | 2.6274 | 1.9504 | 0.4356 |
| 011-017 | 2.3278 | 1.7004 | 0.2469 |
| 011-018 | 2.6071 | 1.9105 | 0.2920 |
| 012-000 | 3.8231 | 2.9405 | 1.1990 |
| 012-001 | 1.6518 | 1.4419 | 0.4717 |
| 012-002 | 3.9789 | 3.1158 | 1.1162 |
| 012-003 | 5.3307 | 3.9328 | 0.4188 |
| 012-004 | 2.5621 | 2.2594 | 0.5538 |
| 012-005 | 5.1932 | 3.9219 | 0.5006 |
| 012-006 | 3.7838 | 2.4320 | 0.5389 |
| 012-009 | 3.5908 | 3.0423 | 0.2696 |
| 012-010 | 2.3599 | 1.8352 | 0.5945 |
| 012-011 | 2.4358 | 2.0378 | 0.2206 |
| 012-012 | 2.9675 | 2.5082 | 0.1762 |
| 012-014 | 1.7584 | 1.5117 | 0.3259 |
| 012-015 | 1.0824 | 0.8444 | 0.3047 |
| 012-016 | 4.1487 | 2.7165 | 0.5210 |
| 012-017 | 2.4044 | 1.6216 | 0.2863 |
| 012-018 | 2.9351 | 1.9163 | 0.5043 |
| 014-000 | 3.0102 | 2.6410 | 0.4696 |
| 014-001 | 2.3898 | 2.0649 | 0.5102 |
| 014-002 | 2.3723 | 1.5212 | 0.8973 |
| 014-003 | 3.7167 | 2.9617 | 0.6908 |
| 014-004 | 2.6825 | 1.8763 | 1.0506 |
| 014-005 | 3.9836 | 3.0356 | 0.6309 |
| 014-006 | 2.9846 | 1.8320 | 0.6359 |
| 014-009 | 3.2956 | 2.4370 | 0.4411 |
| 014-010 | 2.3335 | 1.8124 | 0.4248 |
| 014-011 | 2.9263 | 2.1755 | 0.4859 |
| 014-012 | 2.5860 | 1.7694 | 0.7205 |
| 014-014 | 2.5408 | 1.7449 | 0.7751 |
| 014-015 | 1.2985 | 0.9611 | 0.5564 |
| 014-016 | 2.6277 | 2.1500 | 0.2278 |
| 014-017 | 1.5296 | 1.3855 | 0.1892 |
| 014-018 | 1.6712 | 1.4733 | 0.4016 |
| 015-000 | 2.7469 | 2.1142 | 0.5089 |
| 015-001 | 2.3601 | 1.9819 | 0.3170 |
| 015-002 | 2.2026 | 1.8376 | 0.4366 |
| 015-003 | 3.3879 | 2.6182 | 0.7488 |
| 015-004 | 2.5975 | 2.0380 | 0.5334 |
| 015-005 | 3.6642 | 2.7132 | 0.3181 |
| 015-006 | 2.7069 | 2.0028 | 0.4162 |
| 015-009 | 3.3079 | 2.4248 | 0.5420 |
| 015-010 | 2.2275 | 1.8225 | 0.3413 |
| 015-011 | 2.8612 | 2.1858 | 0.3584 |
| 015-012 | 2.4792 | 1.8685 | 0.3171 |
| 015-014 | 2.4064 | 1.6402 | 0.9018 |
| 015-015 | 1.6158 | 1.2102 | 0.4231 |
| 015-016 | 2.1866 | 1.7156 | 0.2917 |
| 015-017 | 1.3872 | 1.2334 | 0.3147 |
| 015-018 | 1.7021 | 1.5091 | 0.1981 |
| 016-000 | 2.6540 | 2.0619 | 0.5749 |
| 016-001 | 2.6601 | 1.9579 | 0.7953 |
| 016-002 | 2.5159 | 1.9313 | 0.6348 |
| 016-003 | 3.3605 | 2.1941 | 0.6623 |
| 016-004 | 3.0455 | 2.3128 | 0.7923 |
| 016-005 | 4.1565 | 3.0793 | 0.3098 |
| 016-006 | 3.2565 | 2.5750 | 0.2651 |
| 016-009 | 3.5825 | 2.5032 | 0.6288 |
| 016-010 | 2.1894 | 1.8309 | 0.5775 |
| 016-011 | 3.2130 | 2.5450 | 0.4851 |
| 016-012 | 2.4559 | 1.7605 | 0.3819 |
| 016-014 | 2.5596 | 1.7133 | 0.6210 |
| 016-015 | 1.3736 | 1.0638 | 0.3227 |
| 016-016 | 2.6428 | 2.3458 | 0.3759 |
| 016-017 | 1.4443 | 1.1462 | 0.4051 |
| 016-018 | 1.9464 | 1.4932 | 0.4234 |
| 017-000 | 2.7190 | 2.2818 | 0.5084 |
| 017-001 | 3.0435 | 2.7325 | 0.2507 |
| 017-002 | 2.0489 | 1.7624 | 0.3396 |
| 017-003 | 3.3560 | 2.6294 | 0.4624 |
| 017-004 | 2.5355 | 2.0346 | 0.4181 |
| 017-005 | 3.7156 | 2.7593 | 0.2985 |
| 017-006 | 2.8056 | 2.2452 | 0.2842 |
| 017-009 | 4.6433 | 3.4939 | 0.4018 |
| 017-010 | 2.9618 | 2.2868 | 0.6928 |
| 017-011 | 3.6673 | 2.3549 | 0.6356 |
| 017-012 | 3.0659 | 1.9950 | 0.6408 |
| 017-014 | 2.6641 | 1.5923 | 0.7960 |
| 017-015 | 2.2114 | 1.3528 | 0.5803 |
| 017-016 | 2.1132 | 1.9262 | 0.3322 |
| 017-017 | 1.8528 | 1.2071 | 0.5871 |
| 017-018 | 2.1781 | 1.7830 | 0.4126 |
| 018-000 | 3.3606 | 2.7601 | 0.3787 |
| 018-001 | 3.7533 | 3.1037 | 0.4333 |
| 018-002 | 3.2663 | 2.5649 | 0.6433 |
| 018-003 | 4.4535 | 3.2362 | 0.5179 |
| 018-004 | 3.7723 | 2.9076 | 0.5634 |
| 018-005 | 5.1143 | 3.7726 | 0.4114 |
| 018-006 | 3.7496 | 2.6254 | 0.2784 |
| 018-009 | 5.9181 | 4.3838 | 0.7942 |
| 018-010 | 4.5102 | 3.6969 | 1.1217 |
| 018-011 | 5.1354 | 4.0313 | 0.6378 |
| 018-012 | 4.4884 | 3.3908 | 0.5408 |
| 018-014 | 4.0878 | 1.8954 | 1.4170 |
| 018-015 | 2.2024 | 1.4977 | 0.7297 |
| 018-016 | 3.3197 | 2.5345 | 0.3104 |
| 018-017 | 1.8808 | 1.5986 | 0.2436 |
| 018-018 | 3.2339 | 2.3781 | 1.0322 |
| Averages | 3.2669 | 2.4386 | 0.5634 |
+-----------------+-----------+-------------+-------------+top lidar to top right camera:
+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
| 000-000 | 1.9936 | 1.6824 | 0.4377 |
| 000-002 | 1.8300 | 1.4709 | 0.3642 |
| 000-003 | 2.7825 | 2.1039 | 0.4572 |
| 000-005 | 3.4050 | 2.3501 | 0.5167 |
| 000-006 | 2.5647 | 1.9703 | 0.2209 |
| 000-014 | 2.5315 | 1.3163 | 0.5987 |
| 000-015 | 1.7910 | 1.1349 | 0.4324 |
| 000-016 | 2.0803 | 1.5098 | 0.4777 |
| 000-017 | 1.6779 | 1.4759 | 0.2934 |
| 000-018 | 2.3436 | 1.8781 | 0.3967 |
| 002-000 | 2.6440 | 1.8792 | 0.2688 |
| 002-002 | 1.9990 | 1.4739 | 0.3548 |
| 002-003 | 1.8665 | 1.4505 | 0.2508 |
| 002-005 | 2.1279 | 1.4915 | 0.3321 |
| 002-006 | 1.7492 | 1.3784 | 0.2764 |
| 002-014 | 3.2658 | 1.7010 | 0.5473 |
| 002-015 | 2.5518 | 1.5226 | 0.8144 |
| 002-016 | 3.0086 | 2.4576 | 0.5339 |
| 002-017 | 2.8450 | 2.2014 | 0.5024 |
| 002-018 | 4.0720 | 3.3010 | 0.3629 |
| 003-000 | 3.3880 | 2.5556 | 0.3864 |
| 003-002 | 2.5064 | 1.7880 | 0.6954 |
| 003-003 | 2.2321 | 1.6763 | 0.4160 |
| 003-005 | 2.6967 | 2.0268 | 0.4122 |
| 003-006 | 1.8101 | 1.2662 | 0.4402 |
| 003-014 | 3.8773 | 2.1598 | 0.8272 |
| 003-015 | 2.9445 | 1.8455 | 0.6947 |
| 003-016 | 3.6010 | 2.8680 | 0.4902 |
| 003-017 | 3.3302 | 2.3962 | 0.5896 |
| 003-018 | 4.7179 | 3.6391 | 0.7418 |
| 005-000 | 4.4587 | 2.8019 | 1.0006 |
| 005-002 | 3.4292 | 2.6441 | 0.6872 |
| 005-003 | 2.3880 | 1.7573 | 0.8422 |
| 005-005 | 3.1028 | 2.3127 | 0.9572 |
| 005-006 | 2.5481 | 1.8602 | 0.7833 |
| 005-014 | 4.3315 | 1.9254 | 1.5136 |
| 005-015 | 3.4623 | 2.0087 | 0.9046 |
| 005-016 | 4.9326 | 4.0948 | 0.9452 |
| 005-017 | 4.6800 | 3.2837 | 0.9375 |
| 005-018 | 6.2936 | 4.8355 | 1.1044 |
| 006-000 | 2.1872 | 1.7628 | 0.4453 |
| 006-002 | 1.5850 | 1.3448 | 0.4020 |
| 006-003 | 1.8593 | 1.2506 | 0.4444 |
| 006-005 | 1.8375 | 1.5724 | 0.2905 |
| 006-006 | 1.8070 | 1.5182 | 0.2725 |
| 006-014 | 2.3792 | 1.3576 | 1.0411 |
| 006-015 | 2.1643 | 1.2632 | 1.0619 |
| 006-016 | 3.7494 | 3.1520 | 0.4683 |
| 006-017 | 2.8978 | 1.8255 | 0.6801 |
| 006-018 | 3.0523 | 2.4362 | 0.6203 |
| 014-000 | 2.2381 | 1.8247 | 0.2063 |
| 014-002 | 2.1420 | 1.4903 | 0.5430 |
| 014-003 | 2.8637 | 1.9581 | 0.4349 |
| 014-005 | 3.1544 | 2.2483 | 0.4910 |
| 014-006 | 2.3587 | 1.7641 | 0.4469 |
| 014-014 | 1.5010 | 1.1028 | 0.2975 |
| 014-015 | 1.1316 | 0.9484 | 0.2608 |
| 014-016 | 1.4950 | 1.1245 | 0.1832 |
| 014-017 | 0.9758 | 0.7077 | 0.3137 |
| 014-018 | 1.1622 | 0.7589 | 0.2350 |
| 015-000 | 2.6650 | 2.1429 | 0.4344 |
| 015-002 | 2.3203 | 1.5771 | 0.7643 |
| 015-003 | 3.3323 | 2.6762 | 0.5078 |
| 015-005 | 3.1074 | 2.2353 | 0.6392 |
| 015-006 | 2.0225 | 1.4106 | 0.3139 |
| 015-014 | 2.1358 | 1.2382 | 0.6948 |
| 015-015 | 1.6386 | 1.2685 | 0.4195 |
| 015-016 | 1.9553 | 1.3802 | 0.5657 |
| 015-017 | 1.2762 | 0.9854 | 0.3960 |
| 015-018 | 1.5703 | 1.3144 | 0.1787 |
| 016-000 | 1.8530 | 1.5013 | 0.1842 |
| 016-002 | 2.0179 | 1.4490 | 0.6708 |
| 016-003 | 2.8467 | 1.9579 | 0.6091 |
| 016-005 | 3.5789 | 2.5415 | 0.6417 |
| 016-006 | 2.7092 | 2.2135 | 0.3054 |
| 016-014 | 2.1241 | 1.4519 | 0.3638 |
| 016-015 | 1.2890 | 0.9649 | 0.2771 |
| 016-016 | 1.6749 | 1.3092 | 0.3405 |
| 016-017 | 0.6408 | 0.4753 | 0.3140 |
| 016-018 | 1.3106 | 1.2164 | 0.3355 |
| 017-000 | 2.1947 | 1.5168 | 0.7426 |
| 017-002 | 2.1857 | 1.4265 | 0.5222 |
| 017-003 | 2.9447 | 2.1761 | 0.6527 |
| 017-005 | 3.2984 | 2.4972 | 0.4780 |
| 017-006 | 2.1353 | 1.5502 | 0.2699 |
| 017-014 | 2.5259 | 1.1018 | 0.6523 |
| 017-015 | 1.7889 | 1.4954 | 0.3900 |
| 017-016 | 1.8060 | 1.0751 | 0.2820 |
| 017-017 | 1.3900 | 1.2137 | 0.2609 |
| 017-018 | 2.3416 | 1.9884 | 0.5841 |
| 018-000 | 3.1689 | 2.3827 | 0.5360 |
| 018-002 | 3.5577 | 1.8805 | 0.9645 |
| 018-003 | 4.6248 | 3.2088 | 1.0104 |
| 018-005 | 4.5790 | 3.5575 | 0.3247 |
| 018-006 | 3.0346 | 2.3410 | 0.2991 |
| 018-014 | 3.9387 | 2.2407 | 1.1026 |
| 018-015 | 2.8802 | 2.4673 | 0.8390 |
| 018-016 | 2.2911 | 1.4353 | 0.5309 |
| 018-017 | 1.8874 | 1.6433 | 0.3924 |
| 018-018 | 2.9215 | 2.4190 | 0.6632 |
| Averages | 2.5997 | 1.8783 | 0.5340 |
+-----------------+-----------+-------------+-------------+Simulated w/ anchor:
top left camera to top right camera:
+-----------------+-----------+-------------+-------------+------------+-----------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+-----------------+-----------+-------------+-------------+------------+-----------+
| 000-000 | 1.3244 | 0.7817 | 0.6034 | 18.6283 | 5.1401 |
| 000-002 | 1.1994 | 0.8340 | 0.4828 | 25.7961 | 1.5180 |
| 000-003 | 1.0039 | 0.7153 | 0.3850 | 18.1528 | 0.3086 |
| 000-005 | 1.7732 | 1.2293 | 0.8511 | 16.6387 | 0.5026 |
| 000-006 | 1.8248 | 0.7450 | 1.4357 | 14.2164 | 0.6347 |
| 000-014 | 1.0249 | 0.6670 | 0.4861 | 47.8891 | 1.8486 |
| 000-015 | 1.8500 | 1.4520 | 0.3936 | 17.3122 | 2.9086 |
| 000-016 | 0.9369 | 0.4173 | 0.5664 | 28.5860 | 1.9387 |
| 000-017 | 1.4496 | 1.1308 | 0.3921 | 14.0246 | 3.6574 |
| 000-018 | 2.4356 | 1.7009 | 1.1052 | 17.8719 | 3.9540 |
| 002-000 | 3.1852 | 2.9956 | 0.6351 | 28.1036 | 3.3842 |
| 002-002 | 1.6019 | 1.1561 | 0.6843 | 38.5390 | 0.6525 |
| 002-003 | 2.1243 | 1.7104 | 0.5915 | 31.4033 | 1.4874 |
| 002-005 | 1.9021 | 1.3039 | 0.9073 | 29.9936 | 1.3390 |
| 002-006 | 2.3659 | 1.5337 | 1.1911 | 26.9081 | 1.6718 |
| 002-014 | 4.2873 | 4.1137 | 0.6927 | 48.5197 | 1.7413 |
| 002-015 | 5.8389 | 5.7889 | 0.3847 | 25.5593 | 1.2675 |
| 002-016 | 4.5092 | 4.4131 | 0.5497 | 34.4119 | 0.7482 |
| 002-017 | 5.6571 | 5.5482 | 0.4329 | 24.9590 | 2.1182 |
| 002-018 | 8.5029 | 8.2781 | 0.9975 | 27.9745 | 2.3315 |
| 003-000 | 5.5099 | 5.3712 | 0.6382 | 35.3198 | 2.6479 |
| 003-002 | 2.4331 | 2.0292 | 0.7600 | 46.9017 | 1.1590 |
| 003-003 | 3.2368 | 2.8075 | 0.6471 | 40.0608 | 2.2658 |
| 003-005 | 2.6156 | 1.8046 | 1.1250 | 38.8349 | 2.1160 |
| 003-006 | 2.6826 | 2.0453 | 0.9606 | 35.6707 | 2.4513 |
| 003-014 | 6.8055 | 6.6223 | 0.7934 | 50.0959 | 2.3350 |
| 003-015 | 9.2364 | 9.2010 | 0.5383 | 32.4516 | 0.5694 |
| 003-016 | 7.6909 | 7.6076 | 0.6009 | 39.6541 | 1.1976 |
| 003-017 | 9.1085 | 9.0528 | 0.4344 | 32.8547 | 1.4357 |
| 003-018 | 13.4312 | 13.2918 | 1.0151 | 35.4559 | 1.5861 |
| 005-000 | 9.3678 | 9.2974 | 0.7258 | 37.7899 | 2.6104 |
| 005-002 | 6.3058 | 6.1334 | 0.7617 | 51.2329 | 1.1868 |
| 005-003 | 7.3322 | 7.1139 | 0.7725 | 45.4816 | 2.3225 |
| 005-005 | 5.5929 | 4.7650 | 1.3496 | 45.4644 | 2.1724 |
| 005-006 | 5.6807 | 5.2475 | 0.5670 | 42.8767 | 2.5144 |
| 005-014 | 9.3938 | 9.1666 | 1.6936 | 44.6722 | 2.4151 |
| 005-015 | 11.6810 | 11.6054 | 1.1964 | 34.5640 | 0.4883 |
| 005-016 | 10.9116 | 10.8220 | 0.9909 | 38.9498 | 1.2782 |
| 005-017 | 12.4799 | 12.4199 | 0.8498 | 36.6529 | 1.3548 |
| 005-018 | 18.3366 | 18.2429 | 1.3145 | 38.3381 | 1.5081 |
| 006-000 | 10.6079 | 10.5495 | 0.8324 | 40.1694 | 1.9174 |
| 006-002 | 7.0948 | 6.9635 | 0.7331 | 53.9816 | 1.8970 |
| 006-003 | 8.1483 | 7.9594 | 0.6783 | 48.5093 | 3.0676 |
| 006-005 | 6.1681 | 5.3030 | 1.2739 | 48.7467 | 2.9121 |
| 006-006 | 6.7402 | 6.0647 | 1.0824 | 46.2867 | 3.2438 |
| 006-014 | 11.4363 | 11.1939 | 2.2839 | 44.3566 | 3.0225 |
| 006-015 | 12.9840 | 12.8822 | 1.5108 | 36.9274 | 0.5607 |
| 006-016 | 12.3546 | 12.2492 | 1.2698 | 40.4440 | 1.8901 |
| 006-017 | 14.0512 | 13.9918 | 1.0486 | 39.3805 | 0.9526 |
| 006-018 | 20.7188 | 20.6319 | 1.5323 | 40.8542 | 0.9105 |
| 014-000 | 2.5833 | 2.4035 | 0.4627 | 17.2962 | 2.5186 |
| 014-002 | 2.7203 | 2.5691 | 0.5158 | 21.8055 | 1.4696 |
| 014-003 | 2.7009 | 2.2294 | 0.6717 | 13.8688 | 2.7553 |
| 014-005 | 4.0485 | 3.1264 | 1.4460 | 12.2228 | 2.6111 |
| 014-006 | 4.3793 | 3.0073 | 2.2981 | 10.7372 | 3.0024 |
| 014-014 | 2.6259 | 2.1591 | 0.5466 | 49.6409 | 3.0605 |
| 014-015 | 0.8344 | 0.5149 | 0.4310 | 17.1050 | 0.2204 |
| 014-016 | 1.8948 | 1.4514 | 0.4743 | 28.7599 | 1.9355 |
| 014-017 | 0.7405 | 0.5222 | 0.3615 | 12.2472 | 0.7338 |
| 014-018 | 1.3604 | 0.8403 | 0.8311 | 16.4729 | 0.9800 |
| 015-000 | 2.7328 | 2.3392 | 0.8335 | 31.2336 | 4.6423 |
| 015-002 | 3.7840 | 3.6282 | 0.6178 | 36.2081 | 1.2949 |
| 015-003 | 3.3514 | 3.2498 | 0.4798 | 27.8685 | 0.3252 |
| 015-005 | 5.0276 | 4.8613 | 1.0182 | 23.8558 | 0.2900 |
| 015-006 | 5.2702 | 4.8712 | 1.8202 | 19.9129 | 0.4360 |
| 015-014 | 1.2540 | 0.3643 | 0.8834 | 59.2770 | 1.2954 |
| 015-015 | 2.2904 | 1.9020 | 0.5942 | 30.0401 | 2.5518 |
| 015-016 | 1.4192 | 0.6942 | 0.8302 | 41.1843 | 1.3460 |
| 015-017 | 1.5511 | 0.9976 | 0.6183 | 26.4611 | 3.3648 |
| 015-018 | 2.7729 | 1.4884 | 1.3897 | 30.4490 | 3.6172 |
| 016-000 | 2.2143 | 1.8550 | 0.6106 | 24.6503 | 3.1586 |
| 016-002 | 3.5951 | 3.4777 | 0.4644 | 30.0618 | 0.7637 |
| 016-003 | 3.3192 | 3.0474 | 0.4891 | 21.8909 | 2.0765 |
| 016-005 | 5.4889 | 4.8659 | 1.2384 | 18.7581 | 1.9454 |
| 016-006 | 5.8482 | 4.8292 | 2.1472 | 15.4574 | 2.3646 |
| 016-014 | 1.3763 | 0.9598 | 0.5532 | 53.9977 | 2.6277 |
| 016-015 | 2.6522 | 2.5742 | 0.3986 | 23.6405 | 0.7091 |
| 016-016 | 1.2386 | 0.7728 | 0.5976 | 34.9654 | 1.5902 |
| 016-017 | 1.4224 | 1.2023 | 0.3839 | 19.8674 | 1.3800 |
| 016-018 | 2.4224 | 1.7785 | 0.9530 | 23.9233 | 1.6853 |
| 017-000 | 1.4418 | 0.5896 | 0.8534 | 29.5386 | 5.3977 |
| 017-002 | 1.6099 | 1.0362 | 0.6917 | 36.5729 | 2.2572 |
| 017-003 | 0.9802 | 0.4899 | 0.5154 | 28.5008 | 1.0191 |
| 017-005 | 1.6793 | 1.0914 | 0.8329 | 25.3658 | 1.1018 |
| 017-006 | 1.4785 | 0.7602 | 1.0453 | 21.5546 | 0.6757 |
| 017-014 | 1.0946 | 0.3658 | 0.7340 | 55.2131 | 1.2932 |
| 017-015 | 2.7996 | 2.2786 | 0.5690 | 27.7877 | 3.4715 |
| 017-016 | 1.4015 | 0.5771 | 0.8033 | 38.3634 | 2.0008 |
| 017-017 | 2.3129 | 1.7420 | 0.6095 | 25.1710 | 4.3049 |
| 017-018 | 3.7130 | 2.5831 | 1.3906 | 28.8848 | 4.5364 |
| 018-000 | 1.7545 | 1.0341 | 0.8476 | 30.9519 | 5.1180 |
| 018-002 | 2.3362 | 1.9559 | 0.6248 | 37.1562 | 1.8864 |
| 018-003 | 1.7263 | 1.5237 | 0.4844 | 28.9333 | 0.6600 |
| 018-005 | 2.9685 | 2.7126 | 0.8829 | 25.3508 | 0.7203 |
| 018-006 | 2.9877 | 2.5563 | 1.3864 | 21.3826 | 0.3033 |
| 018-014 | 1.0748 | 0.4465 | 0.6761 | 57.3810 | 1.2444 |
| 018-015 | 2.8568 | 2.4964 | 0.5228 | 29.3830 | 3.1235 |
| 018-016 | 1.3333 | 0.5314 | 0.8126 | 40.1745 | 1.7408 |
| 018-017 | 2.0921 | 1.5650 | 0.6119 | 26.4036 | 3.9477 |
| 018-018 | 3.4350 | 2.3100 | 1.3983 | 30.2192 | 4.1877 |
| Averages | 4.4893 | 4.0618 | 0.8500 | 32.1662 | 2.0088 |
+-----------------+-----------+-------------+-------------+------------+-----------+top lidar to top left camera:
+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
| 000-000 | 2.5291 | 2.0983 | 0.1897 |
| 000-001 | 3.3692 | 3.1264 | 0.4561 |
| 000-002 | 3.1872 | 1.2225 | 1.1898 |
| 000-003 | 3.8421 | 2.1720 | 1.0877 |
| 000-004 | 3.4983 | 1.6495 | 1.2196 |
| 000-005 | 3.9864 | 2.2546 | 1.0428 |
| 000-006 | 3.5231 | 1.7955 | 0.9843 |
| 000-009 | 5.1524 | 3.5585 | 0.3944 |
| 000-010 | 3.5503 | 3.1351 | 0.3644 |
| 000-011 | 4.4427 | 3.3652 | 0.4225 |
| 000-012 | 3.3832 | 2.6307 | 0.4694 |
| 000-014 | 4.9933 | 2.1192 | 2.1478 |
| 000-015 | 4.7132 | 1.7144 | 2.2279 |
| 000-016 | 2.1897 | 1.6621 | 0.1880 |
| 000-017 | 2.1911 | 2.0220 | 0.2050 |
| 000-018 | 3.3834 | 2.3640 | 0.7116 |
| 001-000 | 2.6829 | 2.1067 | 0.3212 |
| 001-001 | 2.8449 | 2.3122 | 0.5073 |
| 001-002 | 4.0259 | 3.4668 | 0.8060 |
| 001-003 | 4.1847 | 3.2925 | 0.2584 |
| 001-004 | 3.4087 | 2.7964 | 0.4823 |
| 001-005 | 4.5699 | 3.4499 | 0.8804 |
| 001-006 | 3.5888 | 3.0032 | 0.6517 |
| 001-009 | 3.9296 | 3.1803 | 1.2731 |
| 001-010 | 4.7103 | 3.5345 | 1.2476 |
| 001-011 | 3.1126 | 2.2919 | 1.1673 |
| 001-012 | 4.4848 | 3.1027 | 1.5427 |
| 001-014 | 3.7316 | 1.1045 | 1.6792 |
| 001-015 | 4.1686 | 1.6762 | 1.8144 |
| 001-016 | 3.8447 | 3.3264 | 1.0961 |
| 001-017 | 3.1554 | 2.0414 | 1.0706 |
| 001-018 | 3.3147 | 0.5301 | 1.5317 |
| 002-000 | 3.5886 | 2.6539 | 0.6246 |
| 002-001 | 4.3902 | 3.5378 | 0.8532 |
| 002-002 | 3.3830 | 1.8925 | 0.8922 |
| 002-003 | 2.9078 | 1.4857 | 0.8466 |
| 002-004 | 2.9797 | 1.6419 | 0.8401 |
| 002-005 | 3.8580 | 1.8854 | 1.1401 |
| 002-006 | 3.4682 | 1.2249 | 1.1511 |
| 002-009 | 6.4197 | 4.6155 | 0.3662 |
| 002-010 | 4.3966 | 3.6905 | 0.2205 |
| 002-011 | 5.2122 | 3.7792 | 0.3817 |
| 002-012 | 4.0603 | 3.2204 | 0.2952 |
| 002-014 | 5.0999 | 2.0416 | 2.0600 |
| 002-015 | 4.6133 | 1.7825 | 2.1543 |
| 002-016 | 3.4958 | 2.9689 | 0.2438 |
| 002-017 | 3.4648 | 2.6984 | 0.3929 |
| 002-018 | 4.6697 | 3.4871 | 0.6566 |
| 003-000 | 3.0488 | 1.9300 | 0.5124 |
| 003-001 | 4.0482 | 3.3825 | 0.5301 |
| 003-002 | 3.0280 | 1.7199 | 0.9067 |
| 003-003 | 2.8031 | 1.7230 | 1.0497 |
| 003-004 | 3.0780 | 1.7975 | 1.0174 |
| 003-005 | 3.9041 | 1.6113 | 1.2575 |
| 003-006 | 3.8239 | 1.2809 | 1.3295 |
| 003-009 | 5.9552 | 4.2400 | 0.7935 |
| 003-010 | 4.0446 | 3.3064 | 0.7599 |
| 003-011 | 4.7902 | 3.4230 | 1.0089 |
| 003-012 | 3.8789 | 2.9272 | 0.6896 |
| 003-014 | 5.2469 | 1.8913 | 2.6168 |
| 003-015 | 4.5453 | 1.8363 | 2.1844 |
| 003-016 | 3.4743 | 2.8094 | 0.2349 |
| 003-017 | 3.0677 | 2.2657 | 0.3348 |
| 003-018 | 4.2840 | 2.9269 | 1.3877 |
| 004-000 | 2.5218 | 1.9394 | 0.3637 |
| 004-001 | 4.2373 | 3.7833 | 0.6244 |
| 004-002 | 2.9661 | 2.3848 | 0.5279 |
| 004-003 | 3.4056 | 3.1660 | 0.2810 |
| 004-004 | 3.5487 | 2.9823 | 0.4983 |
| 004-005 | 3.5976 | 2.9947 | 0.5771 |
| 004-006 | 3.1903 | 2.6474 | 0.5474 |
| 004-009 | 2.7840 | 1.9438 | 0.9704 |
| 004-010 | 3.3468 | 1.9493 | 1.0215 |
| 004-011 | 2.1904 | 1.1797 | 0.8067 |
| 004-012 | 3.6100 | 2.4533 | 1.1802 |
| 004-014 | 3.8183 | 1.5107 | 1.7006 |
| 004-015 | 4.0821 | 1.7468 | 1.9297 |
| 004-016 | 4.6304 | 4.2009 | 0.8216 |
| 004-017 | 3.9995 | 2.2710 | 0.8145 |
| 004-018 | 4.0746 | 2.0089 | 1.6886 |
| 005-000 | 6.0554 | 4.0312 | 0.6775 |
| 005-001 | 6.6358 | 4.6699 | 0.8099 |
| 005-002 | 5.3203 | 3.6909 | 1.4642 |
| 005-003 | 2.9841 | 2.3274 | 0.6844 |
| 005-004 | 4.5060 | 3.0890 | 1.0645 |
| 005-005 | 5.7742 | 3.0615 | 1.4168 |
| 005-006 | 5.0557 | 2.5492 | 1.3930 |
| 005-009 | 9.0600 | 6.8241 | 1.3722 |
| 005-010 | 6.7065 | 5.2109 | 1.5983 |
| 005-011 | 7.3491 | 5.4546 | 0.7627 |
| 005-012 | 5.9385 | 4.2827 | 1.0437 |
| 005-014 | 6.7466 | 3.5886 | 2.3766 |
| 005-015 | 5.8939 | 2.8698 | 2.0225 |
| 005-016 | 5.9398 | 4.6818 | 1.2719 |
| 005-017 | 5.9143 | 4.6089 | 0.5739 |
| 005-018 | 7.1506 | 4.8779 | 1.3877 |
| 006-000 | 6.2477 | 3.9237 | 0.5508 |
| 006-001 | 7.3677 | 5.8026 | 1.4473 |
| 006-002 | 5.6142 | 3.9802 | 1.1850 |
| 006-003 | 3.5494 | 2.5871 | 0.8175 |
| 006-004 | 5.1135 | 3.7107 | 0.8967 |
| 006-005 | 6.2087 | 3.3741 | 1.9897 |
| 006-006 | 5.5890 | 2.7572 | 1.8957 |
| 006-009 | 9.4313 | 6.7330 | 0.8203 |
| 006-010 | 6.6475 | 4.8552 | 0.9143 |
| 006-011 | 7.5855 | 5.1994 | 1.0689 |
| 006-012 | 6.3062 | 4.6341 | 0.8755 |
| 006-014 | 7.2479 | 3.2801 | 3.0454 |
| 006-015 | 6.2761 | 3.2021 | 2.7986 |
| 006-016 | 6.4625 | 5.6267 | 0.8339 |
| 006-017 | 6.4208 | 4.7867 | 0.4711 |
| 006-018 | 7.4155 | 5.0854 | 1.9608 |
| 009-000 | 4.8396 | 4.1194 | 0.2838 |
| 009-001 | 4.9090 | 3.7498 | 0.7373 |
| 009-002 | 5.0586 | 2.8570 | 2.1875 |
| 009-003 | 6.5114 | 5.0004 | 2.2823 |
| 009-004 | 5.4434 | 3.6403 | 2.1291 |
| 009-005 | 5.8896 | 2.6748 | 2.5467 |
| 009-006 | 4.9760 | 1.2955 | 2.1684 |
| 009-009 | 5.2512 | 4.6571 | 0.6230 |
| 009-010 | 4.4715 | 4.0735 | 0.5640 |
| 009-011 | 5.3363 | 4.3062 | 1.6810 |
| 009-012 | 5.3705 | 4.4163 | 1.7467 |
| 009-014 | 5.2792 | 3.4480 | 2.6122 |
| 009-015 | 5.1946 | 3.3294 | 2.2383 |
| 009-016 | 3.3318 | 2.6591 | 0.6390 |
| 009-017 | 3.3818 | 2.8984 | 0.2648 |
| 009-018 | 2.7523 | 1.7032 | 1.2446 |
| 010-000 | 3.7652 | 3.1590 | 0.6160 |
| 010-001 | 3.3936 | 2.6735 | 0.5631 |
| 010-002 | 3.4926 | 1.8369 | 0.8975 |
| 010-003 | 4.7643 | 3.6016 | 1.1419 |
| 010-004 | 3.8708 | 2.5639 | 1.1835 |
| 010-005 | 4.9925 | 3.0105 | 1.5756 |
| 010-006 | 4.4737 | 2.5987 | 1.5448 |
| 010-009 | 3.1757 | 2.4336 | 0.5261 |
| 010-010 | 2.9959 | 2.3448 | 0.7975 |
| 010-011 | 3.3376 | 2.7160 | 0.7213 |
| 010-012 | 3.3989 | 2.7243 | 0.6697 |
| 010-014 | 5.7275 | 2.8044 | 2.5171 |
| 010-015 | 5.8179 | 2.5252 | 2.8238 |
| 010-016 | 3.6901 | 2.5510 | 0.9211 |
| 010-017 | 3.0930 | 2.0589 | 0.5314 |
| 010-018 | 3.4448 | 1.6536 | 1.1969 |
| 011-000 | 3.0320 | 2.4501 | 0.2568 |
| 011-001 | 2.6015 | 2.0826 | 0.2480 |
| 011-002 | 4.0388 | 2.2742 | 1.0481 |
| 011-003 | 4.2084 | 2.7961 | 1.0111 |
| 011-004 | 3.3461 | 1.6373 | 0.9716 |
| 011-005 | 5.0652 | 2.8021 | 1.2258 |
| 011-006 | 4.4984 | 2.2300 | 1.3369 |
| 011-009 | 3.4569 | 2.6215 | 0.5947 |
| 011-010 | 3.1285 | 2.4532 | 0.8759 |
| 011-011 | 3.2145 | 2.5110 | 0.6028 |
| 011-012 | 3.5785 | 2.9879 | 0.5230 |
| 011-014 | 5.6394 | 1.2205 | 2.9265 |
| 011-015 | 5.6686 | 1.7234 | 2.8434 |
| 011-016 | 2.6239 | 2.1441 | 0.2557 |
| 011-017 | 2.3620 | 1.5842 | 0.2669 |
| 011-018 | 3.9542 | 2.1182 | 1.2107 |
| 012-000 | 5.3747 | 4.6171 | 0.8708 |
| 012-001 | 2.8502 | 1.7796 | 0.4154 |
| 012-002 | 6.4784 | 4.3452 | 2.0303 |
| 012-003 | 7.2331 | 5.2647 | 1.7520 |
| 012-004 | 4.4756 | 3.8992 | 0.6305 |
| 012-005 | 6.8165 | 5.4129 | 0.2864 |
| 012-006 | 5.0322 | 4.1121 | 0.3263 |
| 012-009 | 3.9274 | 2.2220 | 1.8650 |
| 012-010 | 3.7196 | 2.7770 | 1.1462 |
| 012-011 | 3.9242 | 1.9257 | 1.6331 |
| 012-012 | 4.0803 | 2.0623 | 2.0375 |
| 012-014 | 7.3305 | 2.2753 | 3.7251 |
| 012-015 | 6.6162 | 1.0958 | 3.2612 |
| 012-016 | 4.4975 | 3.7520 | 0.7336 |
| 012-017 | 2.6605 | 1.8114 | 0.3752 |
| 012-018 | 5.9383 | 2.7176 | 2.4419 |
| 014-000 | 2.8158 | 2.2288 | 0.2472 |
| 014-001 | 2.7644 | 2.3304 | 0.3604 |
| 014-002 | 2.9410 | 1.7078 | 0.8724 |
| 014-003 | 4.1311 | 3.0232 | 0.9968 |
| 014-004 | 3.3849 | 2.1017 | 0.9968 |
| 014-005 | 4.0684 | 2.5820 | 1.0659 |
| 014-006 | 3.3150 | 1.6163 | 0.9765 |
| 014-009 | 3.5230 | 2.4748 | 0.6758 |
| 014-010 | 2.7563 | 2.2547 | 0.6849 |
| 014-011 | 3.3260 | 2.4361 | 0.4749 |
| 014-012 | 2.9763 | 2.2539 | 0.5518 |
| 014-014 | 4.5938 | 1.6515 | 2.1934 |
| 014-015 | 4.4320 | 1.7457 | 2.1667 |
| 014-016 | 2.4174 | 1.8673 | 0.5006 |
| 014-017 | 1.8045 | 1.5829 | 0.3895 |
| 014-018 | 2.6452 | 1.7218 | 0.7811 |
| 015-000 | 2.7002 | 2.2968 | 0.4093 |
| 015-001 | 2.1019 | 1.7172 | 0.3657 |
| 015-002 | 3.3248 | 1.9499 | 1.1844 |
| 015-003 | 3.9306 | 2.6216 | 0.9061 |
| 015-004 | 3.4902 | 2.2539 | 1.1390 |
| 015-005 | 4.3745 | 2.8393 | 0.8949 |
| 015-006 | 3.6796 | 1.9565 | 0.9480 |
| 015-009 | 2.6673 | 1.8750 | 0.5170 |
| 015-010 | 2.0488 | 1.6311 | 0.4986 |
| 015-011 | 2.4808 | 1.8547 | 0.3893 |
| 015-012 | 2.2359 | 1.5590 | 0.4049 |
| 015-014 | 4.2111 | 1.6549 | 2.0303 |
| 015-015 | 3.8861 | 0.6488 | 2.0814 |
| 015-016 | 2.3613 | 2.0116 | 0.1607 |
| 015-017 | 1.0549 | 0.8263 | 0.2589 |
| 015-018 | 2.0140 | 1.0562 | 0.8417 |
| 016-000 | 2.5031 | 1.8287 | 0.2640 |
| 016-001 | 2.6592 | 2.3414 | 0.2592 |
| 016-002 | 2.9430 | 1.6860 | 0.8693 |
| 016-003 | 3.7213 | 2.1444 | 0.8460 |
| 016-004 | 3.4851 | 1.9492 | 0.9363 |
| 016-005 | 4.3203 | 2.7993 | 0.9503 |
| 016-006 | 3.7099 | 2.3107 | 0.9340 |
| 016-009 | 3.7400 | 2.5627 | 0.5202 |
| 016-010 | 2.8818 | 2.4078 | 0.5909 |
| 016-011 | 3.4148 | 2.4181 | 0.6618 |
| 016-012 | 2.8987 | 1.9999 | 0.6216 |
| 016-014 | 4.7760 | 1.6665 | 2.3525 |
| 016-015 | 4.5503 | 1.3851 | 2.3576 |
| 016-016 | 2.2504 | 1.6488 | 0.6007 |
| 016-017 | 1.3211 | 0.9700 | 0.3731 |
| 016-018 | 2.9069 | 1.4714 | 0.9847 |
| 017-000 | 2.2271 | 1.8083 | 0.1978 |
| 017-001 | 2.4564 | 2.2028 | 0.2692 |
| 017-002 | 2.8955 | 1.5748 | 0.9814 |
| 017-003 | 3.6778 | 2.2684 | 1.0399 |
| 017-004 | 3.2082 | 1.8856 | 0.9792 |
| 017-005 | 4.3870 | 2.4856 | 1.2279 |
| 017-006 | 3.7923 | 2.0388 | 1.0065 |
| 017-009 | 4.1814 | 3.0205 | 0.4148 |
| 017-010 | 3.0408 | 2.4604 | 0.5592 |
| 017-011 | 3.7006 | 2.7127 | 0.4459 |
| 017-012 | 3.1828 | 2.3984 | 0.5889 |
| 017-014 | 4.5953 | 1.4938 | 2.1571 |
| 017-015 | 4.2564 | 1.0293 | 2.1919 |
| 017-016 | 1.8972 | 1.4720 | 0.1749 |
| 017-017 | 1.2459 | 1.0278 | 0.2478 |
| 017-018 | 2.4674 | 1.3951 | 0.8224 |
| 018-000 | 3.3653 | 2.3558 | 0.4813 |
| 018-001 | 3.8392 | 3.1125 | 0.2367 |
| 018-002 | 4.2412 | 2.3943 | 1.1664 |
| 018-003 | 4.8088 | 2.8136 | 1.1264 |
| 018-004 | 4.6754 | 2.7279 | 1.1984 |
| 018-005 | 5.6657 | 3.5251 | 1.6289 |
| 018-006 | 4.9497 | 2.4706 | 1.3040 |
| 018-009 | 6.0309 | 5.0325 | 0.5992 |
| 018-010 | 5.1064 | 4.1934 | 0.6312 |
| 018-011 | 5.1574 | 3.8591 | 0.5783 |
| 018-012 | 4.8502 | 3.6015 | 0.6351 |
| 018-014 | 6.8357 | 2.8721 | 3.1827 |
| 018-015 | 6.0275 | 1.6652 | 3.0673 |
| 018-016 | 3.2319 | 2.1945 | 0.4106 |
| 018-017 | 1.7833 | 1.0751 | 0.5182 |
| 018-018 | 3.8486 | 2.5536 | 0.9997 |
| Averages | 4.1493 | 2.6865 | 1.0518 |
+-----------------+-----------+-------------+-------------+
top lidar to top right camera:
+-----------------+-----------+-------------+-------------+
| Collection Pair | RMS (pix) | X err (pix) | Y err (pix) |
+-----------------+-----------+-------------+-------------+
| 000-000 | 2.7660 | 2.5611 | 0.3042 |
| 000-002 | 4.0133 | 2.0149 | 1.2180 |
| 000-003 | 4.5365 | 2.5517 | 1.3068 |
| 000-005 | 4.4939 | 2.5762 | 1.1215 |
| 000-006 | 3.8741 | 1.9981 | 1.1508 |
| 000-014 | 5.3381 | 1.5859 | 2.6253 |
| 000-015 | 5.1703 | 1.1557 | 2.4771 |
| 000-016 | 2.9276 | 2.1406 | 0.3644 |
| 000-017 | 2.5365 | 2.1682 | 0.3701 |
| 000-018 | 2.9716 | 1.9117 | 0.9246 |
| 002-000 | 3.1999 | 2.4300 | 0.2293 |
| 002-002 | 4.0954 | 2.0510 | 1.1788 |
| 002-003 | 3.7778 | 1.7238 | 1.2673 |
| 002-005 | 3.9739 | 1.8368 | 1.2149 |
| 002-006 | 3.6393 | 1.3668 | 1.2240 |
| 002-014 | 5.7808 | 2.4110 | 2.4549 |
| 002-015 | 5.5614 | 2.0155 | 2.4909 |
| 002-016 | 3.5393 | 2.8368 | 0.7683 |
| 002-017 | 3.6384 | 2.9775 | 0.5763 |
| 002-018 | 4.6477 | 3.0811 | 0.9464 |
| 003-000 | 4.4627 | 3.4725 | 0.4916 |
| 003-002 | 4.1398 | 2.5394 | 0.8904 |
| 003-003 | 3.6984 | 2.2732 | 1.3023 |
| 003-005 | 4.4060 | 2.0295 | 1.4129 |
| 003-006 | 3.7899 | 1.5127 | 1.3752 |
| 003-014 | 6.1360 | 2.7421 | 2.9932 |
| 003-015 | 5.9976 | 2.3350 | 2.6324 |
| 003-016 | 4.1338 | 3.3624 | 0.6126 |
| 003-017 | 4.6715 | 3.6866 | 0.7442 |
| 003-018 | 5.6446 | 3.6242 | 1.7167 |
| 005-000 | 5.8068 | 3.8750 | 0.9652 |
| 005-002 | 5.7465 | 3.8744 | 1.9832 |
| 005-003 | 3.9354 | 2.4988 | 1.2682 |
| 005-005 | 5.8833 | 2.9898 | 1.6971 |
| 005-006 | 5.1353 | 1.9918 | 1.5759 |
| 005-014 | 7.5705 | 2.8183 | 4.0272 |
| 005-015 | 7.4513 | 2.9454 | 3.3110 |
| 005-016 | 5.2680 | 4.3902 | 0.8885 |
| 005-017 | 6.0578 | 4.7251 | 0.6708 |
| 005-018 | 7.3878 | 4.9791 | 1.6939 |
| 006-000 | 3.9302 | 3.3301 | 1.3356 |
| 006-002 | 3.5289 | 2.4284 | 0.8089 |
| 006-003 | 3.6383 | 2.7789 | 0.9355 |
| 006-005 | 2.7140 | 2.0431 | 0.3735 |
| 006-006 | 2.7728 | 2.1626 | 0.3629 |
| 006-014 | 7.4828 | 3.0643 | 3.8545 |
| 006-015 | 7.0619 | 2.7757 | 3.8635 |
| 006-016 | 3.2238 | 2.0274 | 0.8811 |
| 006-017 | 2.8202 | 1.9690 | 0.2866 |
| 006-018 | 4.9354 | 3.1634 | 2.0669 |
| 014-000 | 3.0152 | 2.5423 | 0.2653 |
| 014-002 | 4.4530 | 2.7357 | 1.1486 |
| 014-003 | 4.6517 | 2.3633 | 1.1659 |
| 014-005 | 4.6837 | 2.8997 | 1.0744 |
| 014-006 | 3.9657 | 2.2450 | 0.9849 |
| 014-014 | 4.6533 | 1.4584 | 2.3132 |
| 014-015 | 4.3421 | 0.8367 | 2.3368 |
| 014-016 | 2.3013 | 1.9916 | 0.2983 |
| 014-017 | 1.2736 | 0.8506 | 0.3250 |
| 014-018 | 2.1946 | 1.0862 | 0.9527 |
| 015-000 | 2.8791 | 2.2296 | 0.5352 |
| 015-002 | 3.6944 | 2.0309 | 1.2075 |
| 015-003 | 4.6851 | 2.8051 | 1.2985 |
| 015-005 | 4.0056 | 2.2851 | 1.3672 |
| 015-006 | 3.5601 | 1.7119 | 1.0562 |
| 015-014 | 5.1812 | 1.7065 | 2.4626 |
| 015-015 | 5.2311 | 1.8507 | 2.4355 |
| 015-016 | 2.3286 | 1.9001 | 0.2251 |
| 015-017 | 2.4319 | 1.8994 | 0.2304 |
| 015-018 | 2.7907 | 1.6292 | 0.9517 |
| 016-000 | 2.5407 | 2.0589 | 0.4151 |
| 016-002 | 4.3858 | 2.1522 | 1.3834 |
| 016-003 | 4.8996 | 2.9178 | 1.3782 |
| 016-005 | 4.4590 | 2.6816 | 1.0523 |
| 016-006 | 3.7461 | 2.0046 | 1.1714 |
| 016-014 | 4.4967 | 1.4225 | 2.0841 |
| 016-015 | 4.2201 | 0.9373 | 2.2620 |
| 016-016 | 2.0678 | 1.5841 | 0.2236 |
| 016-017 | 1.3269 | 1.1357 | 0.2332 |
| 016-018 | 2.0980 | 1.1497 | 0.8045 |
| 017-000 | 2.7842 | 1.9733 | 0.5090 |
| 017-002 | 3.7153 | 1.8886 | 1.1652 |
| 017-003 | 4.3826 | 2.6515 | 1.5738 |
| 017-005 | 4.1280 | 2.4593 | 1.2459 |
| 017-006 | 3.4695 | 1.7163 | 1.0721 |
| 017-014 | 5.1244 | 2.0647 | 2.7023 |
| 017-015 | 5.0988 | 2.3873 | 2.4427 |
| 017-016 | 2.0945 | 1.3125 | 0.6075 |
| 017-017 | 2.5522 | 2.1189 | 0.6080 |
| 017-018 | 3.1614 | 2.0971 | 0.9002 |
| 018-000 | 4.2399 | 3.2490 | 0.5643 |
| 018-002 | 6.7611 | 2.6801 | 1.8785 |
| 018-003 | 7.8692 | 4.2129 | 1.8651 |
| 018-005 | 5.5706 | 3.3065 | 1.3788 |
| 018-006 | 4.7411 | 2.6578 | 1.3057 |
| 018-014 | 7.4923 | 2.7421 | 3.4963 |
| 018-015 | 7.5260 | 3.3585 | 3.4869 |
| 018-016 | 3.2585 | 1.9079 | 0.8200 |
| 018-017 | 4.0706 | 3.2457 | 0.8751 |
| 018-018 | 4.1791 | 2.7245 | 1.3214 |
| Averages | 4.2870 | 2.3966 | 1.3470 |
+-----------------+-----------+-------------+-------------+
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
I will call you to try to understand better the results. They look good I think...
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Cross-collection same sensor results:
Simulation:
top left camera:
+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000-001 | 0.5007 | 0.2764 | 0.3239 | 17.8170 | 0.9064 |
| 000-002 | 0.4100 | 0.1916 | 0.2639 | 4.6339 | 0.1799 |
| 000-003 | 0.3534 | 0.1891 | 0.1993 | 6.5397 | 0.1733 |
| 000-004 | 0.4803 | 0.2453 | 0.3206 | 11.8259 | 0.2906 |
| 000-005 | 0.9288 | 0.4523 | 0.5427 | 2.1201 | 0.3334 |
| 000-006 | 0.7137 | 0.4747 | 0.2770 | 6.9649 | 0.3154 |
| 000-009 | 0.9847 | 0.5619 | 0.5583 | 6.1956 | 0.4487 |
| 000-010 | 0.7620 | 0.5331 | 0.3373 | 4.0587 | 0.4117 |
| 000-011 | 0.8353 | 0.6131 | 0.3000 | 2.5532 | 0.4280 |
| 000-012 | 1.1799 | 0.8682 | 0.4983 | 4.8971 | 0.4567 |
| 000-014 | 0.4418 | 0.3012 | 0.1657 | 3.6675 | 0.4710 |
| 000-015 | 0.4677 | 0.2936 | 0.2122 | 4.8320 | 0.4375 |
| 000-016 | 0.2760 | 0.1691 | 0.1447 | 1.0317 | 0.4938 |
| 000-017 | 0.3284 | 0.2037 | 0.1622 | 3.5907 | 0.5315 |
| 000-018 | 0.4588 | 0.3103 | 0.2157 | 2.9154 | 0.5240 |
| 001-002 | 1.7090 | 1.6132 | 0.4068 | 13.7924 | 0.8951 |
| 001-003 | 2.0275 | 1.9806 | 0.2032 | 12.4877 | 0.7967 |
| 001-004 | 2.3488 | 2.2825 | 0.1722 | 9.5391 | 0.8311 |
| 001-005 | 4.0350 | 3.9586 | 0.5636 | 16.2017 | 0.9444 |
| 001-006 | 3.3937 | 3.3562 | 0.4091 | 14.0200 | 0.9828 |
| 001-010 | 4.0993 | 4.0509 | 0.2400 | 17.1420 | 0.8306 |
| 001-011 | 3.7148 | 3.6478 | 0.3049 | 15.5701 | 1.0026 |
| 001-012 | 4.5398 | 4.4616 | 0.2255 | 14.2902 | 1.1520 |
| 001-014 | 2.1401 | 2.0932 | 0.1890 | 19.6009 | 0.9336 |
| 001-015 | 2.0346 | 1.9945 | 0.1528 | 13.4078 | 1.0762 |
| 001-016 | 1.3838 | 1.3247 | 0.2430 | 18.0502 | 0.8688 |
| 001-017 | 1.3397 | 1.2996 | 0.1958 | 14.2361 | 0.9784 |
| 001-018 | 1.5584 | 1.3129 | 0.7130 | 14.9021 | 1.0025 |
| 002-003 | 0.4409 | 0.1937 | 0.2604 | 1.9613 | 0.1068 |
| 002-004 | 0.4984 | 0.2503 | 0.3453 | 7.2151 | 0.1301 |
| 002-005 | 1.3686 | 0.9998 | 0.5385 | 2.6590 | 0.1614 |
| 002-006 | 1.2203 | 1.0549 | 0.3445 | 3.1420 | 0.1584 |
| 002-009 | 1.6481 | 1.4979 | 0.3169 | 6.5394 | 0.2747 |
| 002-010 | 1.5255 | 1.4232 | 0.3524 | 3.6403 | 0.2442 |
| 002-011 | 1.5577 | 1.3855 | 0.4499 | 2.1611 | 0.2522 |
| 002-012 | 1.8598 | 1.5936 | 0.6105 | 5.0006 | 0.3148 |
| 002-014 | 1.2244 | 1.0981 | 0.2858 | 5.8711 | 0.2919 |
| 002-015 | 1.2147 | 1.0905 | 0.3527 | 3.6608 | 0.2754 |
| 002-016 | 1.1570 | 1.0865 | 0.2473 | 4.5258 | 0.3192 |
| 002-017 | 1.1343 | 1.0429 | 0.2734 | 2.3289 | 0.3516 |
| 002-018 | 1.4479 | 1.3591 | 0.2746 | 2.3374 | 0.3447 |
| 003-004 | 0.4690 | 0.2586 | 0.2591 | 5.2938 | 0.1399 |
| 003-005 | 1.5671 | 1.2667 | 0.5543 | 4.5652 | 0.2290 |
| 003-006 | 1.4450 | 1.3462 | 0.2561 | 2.1871 | 0.2388 |
| 003-009 | 2.6060 | 2.5201 | 0.3237 | 7.2048 | 0.3035 |
| 003-010 | 2.3752 | 2.2932 | 0.3121 | 4.6783 | 0.2556 |
| 003-011 | 2.1824 | 2.0773 | 0.3356 | 4.0166 | 0.3276 |
| 003-012 | 2.6049 | 2.4454 | 0.5122 | 6.4378 | 0.4152 |
| 003-014 | 1.7660 | 1.7066 | 0.2342 | 7.2463 | 0.3374 |
| 003-015 | 1.7397 | 1.6756 | 0.2787 | 4.9664 | 0.3651 |
| 003-016 | 1.6927 | 1.6515 | 0.1911 | 6.3255 | 0.3428 |
| 003-017 | 1.6707 | 1.6279 | 0.1959 | 4.0068 | 0.4031 |
| 003-018 | 2.2282 | 2.1788 | 0.2066 | 4.1936 | 0.4047 |
| 004-005 | 1.8532 | 1.7041 | 0.4957 | 9.8033 | 0.1177 |
| 004-006 | 1.6244 | 1.4800 | 0.3627 | 5.5774 | 0.1540 |
| 004-009 | 5.3323 | 5.2902 | 0.6642 | 11.1432 | 0.1806 |
| 004-010 | 4.8530 | 4.7680 | 0.7496 | 9.3846 | 0.1214 |
| 004-011 | 4.4796 | 4.4155 | 0.5765 | 9.3104 | 0.2101 |
| 004-012 | 5.4968 | 5.4169 | 0.6957 | 10.9228 | 0.3309 |
| 004-014 | 3.3142 | 3.2661 | 0.4138 | 12.0709 | 0.2001 |
| 004-015 | 3.2207 | 3.1796 | 0.3647 | 9.4435 | 0.2611 |
| 004-016 | 2.9914 | 2.9611 | 0.2565 | 11.5697 | 0.2098 |
| 004-017 | 2.9589 | 2.9299 | 0.2603 | 9.0466 | 0.2679 |
| 004-018 | 3.8916 | 3.8613 | 0.2488 | 9.3764 | 0.2747 |
| 005-006 | 0.9079 | 0.3434 | 0.4651 | 5.0015 | 0.0552 |
| 005-009 | 0.7734 | 0.4269 | 0.4011 | 5.7161 | 0.1867 |
| 005-010 | 1.1234 | 0.4120 | 0.6469 | 2.9337 | 0.1513 |
| 005-011 | 1.2291 | 0.5345 | 0.6781 | 1.0782 | 0.1231 |
| 005-012 | 1.1544 | 0.7460 | 0.7599 | 4.6942 | 0.2221 |
| 005-014 | 0.6847 | 0.4082 | 0.3403 | 3.9802 | 0.1542 |
| 005-015 | 0.6645 | 0.2839 | 0.4077 | 4.0013 | 0.1506 |
| 005-016 | 0.6827 | 0.4037 | 0.3143 | 2.0672 | 0.2069 |
| 005-017 | 0.6545 | 0.3295 | 0.3753 | 2.4552 | 0.2125 |
| 005-018 | 0.9246 | 0.5360 | 0.4312 | 1.7710 | 0.2108 |
| 006-009 | 2.4504 | 2.3074 | 0.5837 | 5.7682 | 0.2402 |
| 006-010 | 2.3503 | 2.2099 | 0.5645 | 3.8705 | 0.2048 |
| 006-011 | 2.2887 | 2.1335 | 0.5935 | 4.7177 | 0.1514 |
| 006-012 | 2.8800 | 2.6949 | 0.7974 | 8.1275 | 0.2041 |
| 006-014 | 2.0374 | 1.9541 | 0.4072 | 6.5405 | 0.2016 |
| 006-015 | 1.9790 | 1.8968 | 0.3767 | 6.7343 | 0.1485 |
| 006-016 | 2.1176 | 2.0583 | 0.3470 | 6.4578 | 0.2601 |
| 006-017 | 2.1151 | 2.0486 | 0.3532 | 5.4533 | 0.2538 |
| 006-018 | 2.9167 | 2.8482 | 0.3699 | 5.3717 | 0.2481 |
| 009-010 | 0.5788 | 0.3118 | 0.4692 | 2.9718 | 0.1009 |
| 009-011 | 0.9300 | 0.1918 | 0.7263 | 5.8798 | 0.1547 |
| 009-012 | 1.3637 | 0.6394 | 1.0749 | 10.2728 | 0.3161 |
| 009-014 | 1.1345 | 0.9990 | 0.2322 | 2.8910 | 0.0974 |
| 009-015 | 1.1177 | 0.8690 | 0.3939 | 9.4689 | 0.2383 |
| 009-016 | 1.7957 | 1.7098 | 0.2288 | 5.1712 | 0.0693 |
| 009-017 | 1.7298 | 1.6228 | 0.3160 | 7.7191 | 0.1345 |
| 009-018 | 2.5707 | 2.4169 | 0.4528 | 7.1392 | 0.1438 |
| 010-011 | 0.4883 | 0.2757 | 0.3031 | 3.0204 | 0.1842 |
| 010-012 | 0.9534 | 0.4589 | 0.6958 | 7.4396 | 0.3394 |
| 010-014 | 0.7749 | 0.6789 | 0.1479 | 2.6865 | 0.1140 |
| 010-015 | 0.6951 | 0.5993 | 0.2042 | 6.5387 | 0.2544 |
| 010-016 | 1.2487 | 1.1993 | 0.1313 | 3.1965 | 0.0969 |
| 010-017 | 1.1735 | 1.1176 | 0.1835 | 4.8058 | 0.1787 |
| 010-018 | 1.7632 | 1.6916 | 0.1939 | 4.2559 | 0.1996 |
| 011-012 | 0.7827 | 0.3370 | 0.5167 | 4.4384 | 0.1635 |
| 011-014 | 0.5097 | 0.3767 | 0.2093 | 4.3892 | 0.1073 |
| 011-015 | 0.4635 | 0.3276 | 0.1971 | 3.6140 | 0.0840 |
| 011-016 | 0.5904 | 0.4979 | 0.1707 | 2.4960 | 0.1764 |
| 011-017 | 0.5809 | 0.4717 | 0.2086 | 1.8724 | 0.1278 |
| 011-018 | 0.7334 | 0.5693 | 0.2655 | 1.2662 | 0.1066 |
| 012-014 | 0.6021 | 0.4284 | 0.2558 | 8.3196 | 0.2639 |
| 012-015 | 0.5562 | 0.4114 | 0.1844 | 1.5049 | 0.0886 |
| 012-016 | 0.8846 | 0.7630 | 0.2503 | 5.7193 | 0.3379 |
| 012-017 | 0.8718 | 0.7798 | 0.1896 | 2.8144 | 0.2646 |
| 012-018 | 1.5589 | 1.4073 | 0.4180 | 3.2023 | 0.2343 |
| 014-015 | 0.4045 | 0.1984 | 0.2211 | 7.8534 | 0.1779 |
| 014-016 | 0.7754 | 0.6975 | 0.1563 | 2.6771 | 0.0787 |
| 014-017 | 0.7072 | 0.5980 | 0.1893 | 6.2104 | 0.0697 |
| 014-018 | 1.1669 | 1.0096 | 0.2771 | 5.5157 | 0.0897 |
| 015-016 | 0.4599 | 0.3003 | 0.2165 | 5.4519 | 0.2537 |
| 015-017 | 0.4560 | 0.3335 | 0.1730 | 1.7697 | 0.1875 |
| 015-018 | 0.8854 | 0.6964 | 0.3657 | 2.3690 | 0.1635 |
| 016-017 | 0.3147 | 0.1623 | 0.1855 | 3.9827 | 0.1099 |
| 016-018 | 0.4040 | 0.2401 | 0.2293 | 3.2698 | 0.1379 |
| 017-018 | 0.3660 | 0.1901 | 0.2223 | 0.7260 | 0.0412 |
| Averages | 1.5499 | 1.3749 | 0.3530 | 6.2719 | 0.3150 |
+--------------+-----------+-------------+-------------+------------+-----------+top right camera:
+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000-002 | 0.4965 | 0.3717 | 0.1674 | 0.5579 | 0.5850 |
| 000-003 | 0.6147 | 0.4477 | 0.1890 | 2.3882 | 0.6261 |
| 000-005 | 1.0795 | 0.8358 | 0.2109 | 1.5035 | 0.7908 |
| 000-006 | 0.7325 | 0.5631 | 0.2348 | 4.0672 | 0.6440 |
| 000-014 | 0.7851 | 0.5998 | 0.2853 | 5.4993 | 0.7756 |
| 000-015 | 0.7125 | 0.4776 | 0.3193 | 2.0188 | 0.7902 |
| 000-016 | 0.3759 | 0.2493 | 0.1452 | 3.5520 | 0.7262 |
| 000-017 | 0.4327 | 0.2815 | 0.2008 | 0.7357 | 0.8531 |
| 000-018 | 0.4965 | 0.3448 | 0.1970 | 0.5771 | 0.6928 |
| 002-003 | 0.3642 | 0.2029 | 0.1913 | 2.7141 | 0.0633 |
| 002-005 | 0.4976 | 0.3151 | 0.2162 | 1.8439 | 0.2548 |
| 002-006 | 0.4718 | 0.2300 | 0.2858 | 4.3510 | 0.1496 |
| 002-014 | 0.4436 | 0.2819 | 0.2210 | 5.0252 | 0.2336 |
| 002-015 | 0.5854 | 0.2316 | 0.3329 | 2.4665 | 0.2098 |
| 002-016 | 0.3235 | 0.1893 | 0.1819 | 3.0260 | 0.3629 |
| 002-017 | 0.4001 | 0.2307 | 0.2251 | 0.9698 | 0.2798 |
| 002-018 | 0.4516 | 0.3029 | 0.2059 | 0.6005 | 0.1209 |
| 003-005 | 0.7081 | 0.5155 | 0.2965 | 0.9605 | 0.2033 |
| 003-006 | 0.6145 | 0.4488 | 0.2558 | 1.8006 | 0.1042 |
| 003-014 | 0.8081 | 0.6880 | 0.1782 | 6.3748 | 0.1823 |
| 003-015 | 0.9727 | 0.8806 | 0.2794 | 2.8938 | 0.1796 |
| 003-016 | 0.8703 | 0.7921 | 0.1780 | 4.8857 | 0.3215 |
| 003-017 | 0.9393 | 0.8623 | 0.1640 | 2.2390 | 0.2306 |
| 003-018 | 1.3158 | 1.2103 | 0.2481 | 2.7210 | 0.0904 |
| 005-006 | 0.4876 | 0.2753 | 0.2486 | 2.5656 | 0.1492 |
| 005-014 | 0.6205 | 0.4122 | 0.2780 | 5.8330 | 0.0222 |
| 005-015 | 0.6391 | 0.3603 | 0.3051 | 2.4905 | 0.2124 |
| 005-016 | 0.5405 | 0.4186 | 0.1701 | 4.2117 | 0.2345 |
| 005-017 | 0.6304 | 0.4736 | 0.2451 | 1.5641 | 0.1127 |
| 005-018 | 0.8227 | 0.6492 | 0.2180 | 1.9294 | 0.2170 |
| 006-014 | 1.1507 | 1.0939 | 0.1833 | 7.0111 | 0.1348 |
| 006-015 | 1.2759 | 1.1349 | 0.3748 | 4.5655 | 0.2386 |
| 006-016 | 1.3180 | 1.2749 | 0.1879 | 5.9811 | 0.2177 |
| 006-017 | 1.3467 | 1.2959 | 0.2040 | 4.0177 | 0.2247 |
| 006-018 | 1.9084 | 1.8632 | 0.1807 | 4.4618 | 0.1754 |
| 014-015 | 0.5977 | 0.2650 | 0.3893 | 7.4807 | 0.1950 |
| 014-016 | 0.8645 | 0.7579 | 0.2177 | 2.1663 | 0.2433 |
| 014-017 | 0.9027 | 0.7120 | 0.3082 | 5.8090 | 0.1090 |
| 014-018 | 1.4214 | 1.1994 | 0.4227 | 5.5605 | 0.1956 |
| 015-016 | 0.5847 | 0.2875 | 0.3514 | 5.4606 | 0.4242 |
| 015-017 | 0.5615 | 0.2854 | 0.2968 | 1.7321 | 0.1422 |
| 015-018 | 0.8211 | 0.4128 | 0.4957 | 1.9517 | 0.1013 |
| 016-017 | 0.4172 | 0.2245 | 0.2208 | 3.8188 | 0.3424 |
| 016-018 | 0.5375 | 0.2999 | 0.2858 | 3.5107 | 0.3839 |
| 017-018 | 0.5155 | 0.2977 | 0.2665 | 0.5841 | 0.1967 |
| Averages | 0.7435 | 0.5677 | 0.2502 | 3.2551 | 0.3054 |
+--------------+-----------+-------------+-------------+------------+-----------+
top lidar:
Simulation w/anchor:
top left camera:
+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000-001 | 3.2398 | 2.5906 | 0.8393 | 123.2956 | 9.9390 |
| 000-002 | 1.1968 | 0.9020 | 0.3782 | 13.4839 | 1.7581 |
| 000-003 | 1.8604 | 1.4376 | 0.5439 | 22.3143 | 2.5258 |
| 000-004 | 4.3464 | 3.4495 | 1.1027 | 46.1938 | 3.9979 |
| 000-005 | 3.1252 | 2.3222 | 1.2491 | 29.1966 | 2.5790 |
| 000-006 | 3.6646 | 2.7297 | 1.3519 | 32.5750 | 3.3243 |
| 000-009 | 4.5742 | 3.7096 | 1.1860 | 11.9728 | 3.2736 |
| 000-010 | 3.6640 | 2.8909 | 0.3328 | 10.8591 | 2.7630 |
| 000-011 | 1.9024 | 1.2707 | 0.9240 | 19.8576 | 1.1323 |
| 000-012 | 2.0142 | 0.9361 | 1.3140 | 29.1377 | 0.5789 |
| 000-014 | 1.6188 | 1.2906 | 0.2004 | 5.2833 | 2.9761 |
| 000-015 | 0.8273 | 0.5555 | 0.4018 | 12.7348 | 0.6169 |
| 000-016 | 0.6764 | 0.5308 | 0.1507 | 6.4284 | 2.2794 |
| 000-017 | 0.9357 | 0.6954 | 0.4088 | 11.1984 | 1.0509 |
| 000-018 | 1.1578 | 0.5282 | 0.8397 | 12.3848 | 0.7542 |
| 001-002 | 7.2661 | 7.1793 | 0.4847 | 112.7188 | 8.8502 |
| 001-003 | 8.9721 | 8.6292 | 0.8357 | 106.7548 | 8.6266 |
| 001-004 | 10.8942 | 10.5114 | 1.1615 | 91.2467 | 8.4451 |
| 001-005 | 18.8712 | 18.3622 | 1.5287 | 109.3706 | 8.6602 |
| 001-006 | 19.0739 | 17.9315 | 1.9214 | 109.3382 | 8.4375 |
| 001-010 | 23.3975 | 22.8756 | 2.1771 | 129.3429 | 9.3307 |
| 001-011 | 20.4739 | 20.0227 | 1.7904 | 117.1121 | 9.3883 |
| 001-012 | 23.8451 | 23.3427 | 0.6207 | 108.8311 | 9.4391 |
| 001-014 | 12.4710 | 12.1330 | 0.7770 | 126.7159 | 9.0692 |
| 001-015 | 10.4752 | 10.2116 | 0.8207 | 112.4409 | 9.3358 |
| 001-016 | 7.9069 | 7.5608 | 0.4335 | 118.4478 | 9.3364 |
| 001-017 | 6.7870 | 6.5558 | 0.4293 | 112.2673 | 9.3426 |
| 001-018 | 8.7477 | 8.2683 | 0.9880 | 111.5241 | 9.3625 |
| 002-003 | 0.7888 | 0.5962 | 0.2738 | 8.8592 | 0.7862 |
| 002-004 | 2.9565 | 2.1322 | 0.7208 | 32.7375 | 2.2804 |
| 002-005 | 3.0692 | 2.6952 | 0.7152 | 17.0512 | 0.8503 |
| 002-006 | 3.7659 | 3.2971 | 0.8205 | 20.6384 | 1.5918 |
| 002-009 | 10.4318 | 10.2682 | 0.4047 | 24.2188 | 1.6907 |
| 002-010 | 8.4341 | 8.3226 | 0.7079 | 23.7955 | 1.3096 |
| 002-011 | 6.9515 | 6.7781 | 1.1235 | 26.5189 | 0.6762 |
| 002-012 | 7.1680 | 6.5943 | 1.4357 | 32.2128 | 1.7215 |
| 002-014 | 5.3152 | 5.2581 | 0.3356 | 18.5093 | 1.3967 |
| 002-015 | 4.2866 | 4.1878 | 0.4997 | 14.2974 | 1.3104 |
| 002-016 | 4.3705 | 4.3469 | 0.2605 | 13.4969 | 0.8888 |
| 002-017 | 3.8375 | 3.7497 | 0.4048 | 9.1630 | 2.2065 |
| 002-018 | 5.8959 | 5.8132 | 0.6246 | 11.3723 | 1.8661 |
| 003-004 | 1.8228 | 1.4574 | 0.5754 | 23.9098 | 1.4948 |
| 003-005 | 4.2157 | 4.0983 | 0.4795 | 10.1828 | 0.0830 |
| 003-006 | 4.9090 | 4.8295 | 0.4737 | 13.6545 | 0.8086 |
| 003-009 | 15.4696 | 15.3783 | 1.1898 | 32.5856 | 1.0063 |
| 003-010 | 13.6093 | 13.4797 | 1.6385 | 32.5781 | 0.8358 |
| 003-011 | 11.7549 | 11.4936 | 1.8530 | 33.6884 | 1.4042 |
| 003-012 | 12.9545 | 12.3947 | 1.7283 | 37.5181 | 2.5062 |
| 003-014 | 8.7901 | 8.7539 | 0.6119 | 27.3174 | 0.7552 |
| 003-015 | 7.6060 | 7.4881 | 0.7662 | 21.2100 | 2.0965 |
| 003-016 | 7.5346 | 7.5123 | 0.4573 | 21.9532 | 0.7183 |
| 003-017 | 6.9658 | 6.8936 | 0.4867 | 16.3656 | 2.9778 |
| 003-018 | 10.2794 | 10.2237 | 0.5640 | 18.1245 | 2.6457 |
| 004-005 | 6.3404 | 6.0494 | 0.8403 | 20.3903 | 1.4324 |
| 004-006 | 8.2088 | 8.1857 | 0.3193 | 19.0858 | 0.7095 |
| 004-009 | 29.9530 | 29.3638 | 5.9071 | 56.0209 | 0.9284 |
| 004-010 | 26.9929 | 26.5278 | 4.6602 | 56.2162 | 1.4514 |
| 004-011 | 24.0503 | 23.5373 | 4.0767 | 54.7688 | 2.8668 |
| 004-012 | 28.0363 | 27.4825 | 2.9971 | 55.3490 | 3.9998 |
| 004-014 | 17.8924 | 17.7764 | 1.9540 | 51.1002 | 1.1448 |
| 004-015 | 15.7828 | 15.6379 | 1.7081 | 42.9831 | 3.5903 |
| 004-016 | 15.2768 | 15.2145 | 1.3210 | 45.2372 | 1.8271 |
| 004-017 | 14.1016 | 14.0343 | 1.1530 | 38.9589 | 4.4631 |
| 004-018 | 19.9648 | 19.9382 | 0.7810 | 40.1365 | 4.1380 |
| 005-006 | 1.0036 | 0.6366 | 0.4403 | 3.6387 | 0.7480 |
| 005-009 | 16.9865 | 16.7585 | 2.5168 | 37.7103 | 0.9240 |
| 005-010 | 15.4863 | 15.0945 | 2.9826 | 39.7350 | 0.7671 |
| 005-011 | 14.1090 | 13.6014 | 3.0456 | 43.2334 | 1.4528 |
| 005-012 | 15.8066 | 14.8895 | 3.4838 | 47.5875 | 2.5718 |
| 005-014 | 11.1176 | 10.9804 | 1.5601 | 34.1523 | 0.6737 |
| 005-015 | 10.4267 | 10.2377 | 1.3839 | 30.8568 | 2.1603 |
| 005-016 | 10.7276 | 10.6387 | 1.2494 | 30.4454 | 0.6913 |
| 005-017 | 10.5948 | 10.4776 | 1.1271 | 25.8103 | 3.0482 |
| 005-018 | 15.5823 | 15.4408 | 1.5749 | 27.7896 | 2.7130 |
| 006-009 | 19.1655 | 18.8321 | 3.4126 | 40.6522 | 0.6493 |
| 006-010 | 17.1795 | 16.7870 | 3.5314 | 43.0549 | 0.9804 |
| 006-011 | 16.4102 | 16.0484 | 3.1684 | 46.7752 | 2.1958 |
| 006-012 | 17.7366 | 17.2021 | 3.2076 | 51.0196 | 3.3094 |
| 006-014 | 12.4426 | 12.2853 | 1.8875 | 37.4641 | 0.6706 |
| 006-015 | 11.7339 | 11.4979 | 1.7959 | 34.4416 | 2.9010 |
| 006-016 | 12.1823 | 12.0629 | 1.6160 | 33.9772 | 1.2424 |
| 006-017 | 12.0529 | 11.9081 | 1.4571 | 29.4188 | 3.7698 |
| 006-018 | 17.6589 | 17.4855 | 1.9738 | 31.3902 | 3.4420 |
| 009-010 | 1.4586 | 0.6388 | 1.1015 | 9.0171 | 0.5521 |
| 009-011 | 3.4011 | 2.0210 | 1.7566 | 24.9943 | 2.1564 |
| 009-012 | 9.7700 | 8.2023 | 4.8407 | 35.5166 | 3.3716 |
| 009-014 | 1.7188 | 1.3310 | 0.9522 | 8.3303 | 0.3019 |
| 009-015 | 3.3555 | 2.4959 | 1.5611 | 22.9978 | 2.9528 |
| 009-016 | 2.4278 | 1.8628 | 1.4003 | 16.4561 | 1.0030 |
| 009-017 | 3.5225 | 2.7141 | 1.8252 | 22.7212 | 3.8843 |
| 009-018 | 4.9252 | 3.2041 | 3.2677 | 23.5695 | 3.5288 |
| 010-011 | 2.4671 | 1.6549 | 1.2406 | 16.4180 | 1.6693 |
| 010-012 | 4.7320 | 3.4833 | 1.7284 | 27.1667 | 2.9078 |
| 010-014 | 1.8509 | 1.7983 | 0.2351 | 5.7274 | 0.3208 |
| 010-015 | 3.0027 | 2.6466 | 0.9283 | 17.3227 | 2.4904 |
| 010-016 | 3.2262 | 3.1492 | 0.5843 | 11.8485 | 0.4880 |
| 010-017 | 4.0486 | 3.8071 | 1.0809 | 18.9367 | 3.4407 |
| 010-018 | 5.3606 | 5.0332 | 1.5879 | 18.9298 | 3.0749 |
| 011-012 | 1.8869 | 1.4779 | 0.5839 | 10.8150 | 1.2470 |
| 011-014 | 2.6648 | 2.4056 | 0.4770 | 18.2601 | 1.8568 |
| 011-015 | 3.3384 | 3.2843 | 0.3641 | 12.6639 | 0.8365 |
| 011-016 | 5.0945 | 5.0436 | 0.3106 | 14.4576 | 1.1829 |
| 011-017 | 5.7039 | 5.6594 | 0.4785 | 17.7627 | 1.7987 |
| 011-018 | 8.2844 | 8.2567 | 0.3323 | 15.8983 | 1.4289 |
| 012-014 | 3.1780 | 2.6738 | 0.5642 | 28.4917 | 3.0708 |
| 012-015 | 3.6944 | 3.6146 | 0.5001 | 18.4535 | 0.4190 |
| 012-016 | 5.9946 | 5.8874 | 0.4771 | 22.9627 | 2.4245 |
| 012-017 | 6.6945 | 6.6485 | 0.6133 | 23.4681 | 0.5704 |
| 012-018 | 9.9355 | 9.8833 | 0.5359 | 21.2195 | 0.2265 |
| 014-015 | 1.6929 | 1.1775 | 0.6147 | 14.8523 | 2.6519 |
| 014-016 | 1.2218 | 1.1289 | 0.3169 | 8.3769 | 0.7165 |
| 014-017 | 2.1908 | 1.8475 | 0.7056 | 14.9843 | 3.5845 |
| 014-018 | 2.6561 | 2.1375 | 1.1331 | 15.5681 | 3.2278 |
| 015-016 | 0.9810 | 0.6978 | 0.3892 | 6.6364 | 2.0080 |
| 015-017 | 1.3981 | 1.3344 | 0.1741 | 5.2424 | 0.9624 |
| 015-018 | 1.7421 | 1.6456 | 0.3174 | 3.2409 | 0.5974 |
| 016-017 | 1.2075 | 0.9266 | 0.3608 | 7.1107 | 2.9626 |
| 016-018 | 1.2801 | 0.9291 | 0.5003 | 7.2911 | 2.5959 |
| 017-018 | 0.7185 | 0.5918 | 0.2108 | 2.3108 | 0.3842 |
| Averages | 8.2269 | 7.8603 | 1.2229 | 34.5748 | 2.7012 |
+--------------+-----------+-------------+-------------+------------+-----------+
top right camera:
+--------------+-----------+-------------+-------------+------------+-----------+
| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
+--------------+-----------+-------------+-------------+------------+-----------+
| 000-002 | 4.0194 | 3.5592 | 0.2058 | 15.0998 | 3.7944 |
| 000-003 | 4.8567 | 4.1568 | 0.2719 | 14.0625 | 4.8597 |
| 000-005 | 8.6744 | 7.4814 | 0.6040 | 19.3064 | 4.6957 |
| 000-006 | 11.5935 | 10.7240 | 0.5602 | 21.4955 | 4.9534 |
| 000-014 | 6.2061 | 5.7488 | 0.3748 | 35.4234 | 4.3748 |
| 000-015 | 3.8188 | 3.4805 | 0.4000 | 3.9965 | 2.4616 |
| 000-016 | 2.4814 | 2.1563 | 0.1413 | 12.6188 | 3.3982 |
| 000-017 | 1.6330 | 1.3141 | 0.3959 | 5.2774 | 2.2910 |
| 000-018 | 2.4744 | 1.6593 | 1.4057 | 3.1337 | 1.8998 |
| 002-003 | 0.8856 | 0.6723 | 0.2761 | 8.4680 | 1.3265 |
| 002-005 | 4.7759 | 4.4637 | 1.0669 | 14.4016 | 1.2151 |
| 002-006 | 5.5633 | 4.9597 | 1.5309 | 19.1238 | 1.6576 |
| 002-014 | 8.0223 | 7.9495 | 0.9094 | 46.9624 | 2.1582 |
| 002-015 | 6.5774 | 6.5100 | 0.5061 | 18.2624 | 1.4205 |
| 002-016 | 6.7552 | 6.7104 | 0.6470 | 24.2747 | 1.3547 |
| 002-017 | 6.3829 | 6.2997 | 0.2396 | 14.6029 | 2.1394 |
| 002-018 | 9.3020 | 9.1210 | 0.7387 | 13.9455 | 2.4437 |
| 003-005 | 3.5064 | 3.3497 | 0.8213 | 6.6688 | 0.2201 |
| 003-006 | 4.0910 | 3.7033 | 1.4514 | 11.0870 | 0.4744 |
| 003-014 | 6.8146 | 6.7084 | 1.0793 | 48.5828 | 1.6000 |
| 003-015 | 5.8479 | 5.6676 | 0.6131 | 16.2159 | 2.6764 |
| 003-016 | 6.0064 | 5.9195 | 0.8340 | 25.6874 | 1.6341 |
| 003-017 | 5.7003 | 5.5143 | 0.4106 | 10.6576 | 3.4534 |
| 003-018 | 8.2871 | 7.9516 | 0.6358 | 12.3841 | 3.7319 |
| 005-006 | 1.3759 | 0.7477 | 0.9619 | 5.1375 | 0.4679 |
| 005-014 | 6.5907 | 6.3235 | 1.7171 | 53.4210 | 1.5234 |
| 005-015 | 5.1965 | 4.8260 | 1.2625 | 20.5782 | 2.5332 |
| 005-016 | 6.2710 | 5.9858 | 1.7371 | 31.0090 | 1.4865 |
| 005-017 | 5.9047 | 5.6103 | 1.3028 | 14.8003 | 3.3190 |
| 005-018 | 8.4670 | 8.0889 | 1.2813 | 17.3766 | 3.5872 |
| 006-014 | 6.1640 | 5.6760 | 2.3058 | 54.4515 | 1.3099 |
| 006-015 | 4.6882 | 4.1831 | 1.6661 | 21.8878 | 2.9105 |
| 006-016 | 5.8408 | 5.3684 | 2.1645 | 32.8324 | 1.6241 |
| 006-017 | 5.0975 | 4.6348 | 1.8252 | 16.4908 | 3.7230 |
| 006-018 | 7.1917 | 6.6001 | 2.2005 | 19.4187 | 3.9685 |
| 014-015 | 2.1856 | 1.7020 | 0.3263 | 33.5218 | 2.8993 |
| 014-016 | 6.2244 | 6.1908 | 0.2006 | 23.1433 | 1.1418 |
| 014-017 | 7.5063 | 7.4175 | 0.2558 | 39.6525 | 3.7692 |
| 014-018 | 11.8641 | 11.5490 | 1.8599 | 36.4126 | 3.8977 |
| 015-016 | 0.9343 | 0.6104 | 0.3867 | 11.6697 | 1.7653 |
| 015-017 | 1.1948 | 1.0571 | 0.3038 | 6.1722 | 0.8705 |
| 015-018 | 2.0116 | 1.7611 | 0.7217 | 4.4018 | 1.0678 |
| 016-017 | 1.4512 | 1.1450 | 0.3146 | 17.3127 | 2.6329 |
| 016-018 | 2.8886 | 1.9371 | 1.6846 | 13.7142 | 2.7574 |
| 017-018 | 0.6939 | 0.3092 | 0.4870 | 4.3950 | 0.4152 |
| Averages | 5.2004 | 4.8334 | 0.9130 | 19.9897 | 2.3979 |
+--------------+-----------+-------------+-------------+------------+-----------+
top lidar:
from atlascar2.
Sarxell
commented on September 2, 2024
intrinsic calibration:
top_right_camera:
D = [0.09444548483850039, 0.08669903425079252, 0.008863567020309267, 0.0033859867704945142, 0.0]
K = [822.1032663593196, 0.0, 329.4386958481072, 0.0, 824.1201819408151, 251.921984303044, 0.0, 0.0, 1.0]
R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P = [844.4584350585938, 0.0, 329.9258943954537, 0.0, 0.0, 843.83447265625, 253.8096377750917, 0.0, 0.0, 0.0, 1.0, 0.0]
# oST version 5.0 parameters
[image]
width
640
height
480
[narrow_stereo]
camera matrix
822.103266 0.000000 329.438696
0.000000 824.120182 251.921984
0.000000 0.000000 1.000000
distortion
0.094445 0.086699 0.008864 0.003386 0.000000
rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000
projection
844.458435 0.000000 329.925894 0.000000
0.000000 843.834473 253.809638 0.000000
0.000000 0.000000 1.000000 0.000000
top_left_camera:
D = [-0.21362436272051616, 0.18020415249494953, 0.0015658572570559476, 0.0029227972888911766, 0.0]
K = [1104.8029615581215, 0.0, 525.4654973641809, 0.0, 1105.6375008523155, 394.37369227290617, 0.0, 0.0, 1.0]
R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P = [1061.8524169921875, 0.0, 529.7178186612473, 0.0, 0.0, 1078.82470703125, 395.7505307813408, 0.0, 0.0, 0.0, 1.0, 0.0]
# oST version 5.0 parameters
[image]
width
964
height
724
[narrow_stereo]
camera matrix
1104.802962 0.000000 525.465497
0.000000 1105.637501 394.373692
0.000000 0.000000 1.000000
distortion
-0.213624 0.180204 0.001566 0.002923 0.000000
rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000
projection
1061.852417 0.000000 529.717819 0.000000
0.000000 1078.824707 395.750531 0.000000
0.000000 0.000000 1.000000 0.000000
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Hi @Sarxell and @manuelgitgomes ,
the intrinsic calibration saves a file to ~/.ros which is the one that is read by ros when the camera is launched next.
Please copy these somewhere. For example, they could be in a folder inside the atlascar2 repo.
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Please copy these somewhere. For example, they could be in a folder inside the atlascar2 repo.
Hello! Ok, sure, inside atlascar2_description maybe. Tomorrow we will be to atlasPC and can copy them.
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
... and I think you could actually when launching the cameras point to these files as the ones to load the intrinsics...
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Hello! In the last bag file, these odometry results were obtained using a manual calibration. The pattern stays relatively put throughout the video. I will try the calibration using these parameters.
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
@manuelgitgomes the video looks really nice. I think we can get a reasonable calibration with this odometry ...
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Hello @miguelriemoliveira and @danifpdra! After a calibration, I found out the results were not successful. Here are the residuals:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 000 | 132.9022 | 0.6703 | 120.4928 |
| 001 | 128.0516 | 0.6734 | --- |
| 004 | 45.8367 | 0.6656 | 59.5594 |
| 005 | 56.6706 | 0.6166 | 56.3607 |
| 006 | 64.6444 | 0.6294 | 57.4787 |
| 007 | 79.5778 | 0.4759 | 41.1508 |
| 008 | 78.2218 | 0.4702 | 45.3504 |
| 009 | 89.9655 | 0.4805 | 51.4248 |
| 010 | 98.6385 | 0.4685 | 57.3424 |
| 011 | 110.6620 | 0.4442 | 65.9733 |
| 012 | 132.0085 | 0.4293 | 81.2637 |
| 013 | --- | 0.4779 | 64.8879 |
| 014 | --- | 0.5003 | 64.7215 |
| 015 | --- | 0.5199 | 52.2982 |
| 016 | --- | 0.5166 | 61.7641 |
| 017 | --- | 0.3944 | 59.6590 |
| 018 | --- | 0.2763 | 39.6136 |
| 019 | 34.6456 | 0.2362 | 48.4096 |
| 020 | 36.0074 | 0.2077 | 44.4430 |
| 021 | 36.8986 | 0.1918 | 49.1096 |
| 022 | 41.8499 | 0.1865 | 53.9808 |
| 023 | 45.0531 | 0.1564 | 65.2119 |
| 024 | 81.0994 | 0.1929 | 103.4901 |
| 025 | 46.5524 | 0.2639 | 54.4383 |
| 026 | 36.7844 | 0.2948 | 42.3174 |
| 027 | 35.6180 | 0.3078 | 44.8766 |
| 028 | 36.2815 | 0.3010 | --- |
| 029 | 33.8404 | 0.2930 | 47.9165 |
| 031 | --- | 0.6013 | 105.7301 |
| 032 | --- | 0.6207 | 92.0075 |
| 033 | --- | 0.6595 | 73.3223 |
| 034 | 181.0647 | 0.6731 | 66.0234 |
| 035 | 156.2657 | 0.7018 | 53.9365 |
| 036 | 119.8216 | 0.7244 | 46.5117 |
| 037 | 112.6953 | 0.7355 | 44.1948 |
| 038 | 97.8040 | 0.7185 | 45.5939 |
| 039 | 88.3285 | 0.6708 | 58.0849 |
| 040 | 105.9857 | 0.6691 | 65.6866 |
| 041 | 91.2861 | 0.7025 | 54.9289 |
| 042 | 100.5961 | 0.7193 | 47.5396 |
| 043 | 132.6626 | 0.7223 | 47.0661 |
| 044 | --- | 0.6937 | 61.2401 |
| Averages | 83.3850 | 0.4989 | 59.8850 |
+------------+-----------------+-----------+------------------+
And the RViZ visualization:
This visualization indicates an error in odometry, especially a large difference between the set of patterns on the left and the ones on the right.
I believe I know the origin (or one of the origins) of this error. The way I edited the bag file was prone to failure. I ran the original bag file (without odometry) with the odometry estimator. While this was running, I recorded a bag file. This is prone to failure due to overloading the read/write speeds of my HDD and it was prone to breaks. These breaks would cause a miscalculation of the odometry.
Do you have any better way to write a transformation to the bag file? I can try using the rosbag API. In fact, I have a similar code I used to rewrite the camera_info topic:
def main():
input_bag = '/data/bagfiles/atlascar2/real_move_odom.bag'
output_bag = '/data/bagfiles/atlascar2/real_move_odom_corrected.bag'
with rosbag.Bag(output_bag, 'w') as outbag:
for topic, msg, t in rosbag.Bag(input_bag).read_messages():
new_msg = deepcopy(msg)
if topic == "/top_right_camera/camera_info":
new_msg.D = [0.09444548483850039, 0.08669903425079252, 0.008863567020309267, 0.0033859867704945142, 0.0]
new_msg.K = [822.1032663593196, 0.0, 329.4386958481072, 0.0, 824.1201819408151, 251.921984303044, 0.0, 0.0, 1.0]
new_msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
new_msg.P = [844.4584350585938, 0.0, 329.9258943954537, 0.0, 0.0, 843.83447265625, 253.8096377750917, 0.0, 0.0, 0.0, 1.0, 0.0]
outbag.write(topic, new_msg, t)
else:
outbag.write(topic, new_msg, t)
if __name__ == '__main__':
main()from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Hi @manuelgitgomes ,
the way you describe should work, not perfect but it should work better than the very large errors you are getting.
Why not launch the odometry estimator while running the bag file for taking a collection?
Rosapi would be a better but more long path I think...
from atlascar2.
manuelgitgomes
commented on September 2, 2024
the way you describe should work, not perfect but it should work better than the very large errors you are getting.
The errors are noticeable, severely more than the ones shown in the video. So I think these errors are expected.
Why not launch the odometry estimator while running the bag file for taking a collection?
This sounds like a good idea, I will try it tomorrow!
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
OK, great. If you want we can also talk a bit by phone. How about the presentation?
from atlascar2.
manuelgitgomes
commented on September 2, 2024
OK, great. If you want we can also talk a bit by phone. How about the presentation?
I don't think the talk is needed. However, if you want, we can do it. Today I focused on having these results. I'm finishing the script, however.
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Why not launch the odometry estimator while running the bag file for taking a collection?
After using this suggestion, the results were better, but far from perfect;
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 001 | --- | 0.0298 | 5.0612 |
| 002 | 6.6152 | 0.0572 | 3.4812 |
| 003 | 6.6120 | 0.0373 | 3.3669 |
| 004 | 9.5541 | 0.0561 | 4.6275 |
| 005 | 13.0987 | 0.0631 | 7.4874 |
| 006 | 20.0363 | 0.0858 | 12.6439 |
| 007 | 25.8887 | 0.0742 | 19.1412 |
| 008 | 28.1959 | 0.0657 | 9.1676 |
| 009 | 35.0359 | 0.0909 | 10.7178 |
| 010 | --- | 0.1127 | 16.9108 |
| 011 | --- | 0.0979 | 10.0206 |
| 012 | --- | 0.0668 | 16.0472 |
| 013 | --- | 0.0805 | 6.7470 |
| 014 | --- | 0.1145 | 14.8523 |
| 015 | --- | 0.1292 | 21.4358 |
| 016 | 20.3795 | 0.1517 | 17.1974 |
| 017 | 16.5551 | 0.1123 | 11.3536 |
| 018 | 8.1671 | 0.0729 | 6.4050 |
| 019 | 4.1894 | 0.0423 | 7.5656 |
| 020 | 9.4526 | 0.0272 | 5.5428 |
| 021 | 2.0765 | 0.0154 | --- |
| 022 | 2.2885 | 0.0136 | --- |
| 023 | 8.1422 | 0.0229 | --- |
| 024 | 4.1264 | 0.0257 | --- |
| 025 | 7.1046 | 0.0232 | --- |
| 026 | 7.4477 | 0.0211 | --- |
| 027 | 12.3743 | 0.0441 | --- |
| 028 | 9.0585 | 0.0213 | --- |
| 029 | 4.8128 | 0.0276 | 19.5635 |
| 030 | 3.7278 | 0.0431 | --- |
| 031 | --- | 0.0864 | 10.0881 |
| 032 | --- | 0.1478 | 13.3757 |
| 033 | --- | 0.1666 | 14.5309 |
| 034 | 27.1003 | 0.1852 | 14.6379 |
| 035 | 29.7136 | 0.1975 | 16.7201 |
| 036 | 28.5567 | 0.1850 | 15.8124 |
| 037 | 32.3748 | 0.1990 | 16.8553 |
| 038 | 34.2579 | 0.2161 | 18.0808 |
| Averages | 14.8908 | 0.0845 | 12.0496 |
+------------+-----------------+-----------+------------------+
With the following RViZ visualization:
These results show still the different small odometry displacements can have on the calibration.
I can try to retune it manually, as it seems the linear velocity is accurate, having inaccuracies only in angular velocities.
I can also move to an odometry calibration tool in atom, which will be a larger work. I think I prefer to try a retune. If it does not work, then I can do the calibration tool.
I will try to focus the rest of today on the presentation, so I can do this tomorrow or during the weekend.
All the datasets used are already on lars, if you want to try it for yourselves.
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Visual odometry tool created using ICP. Results coming tonight or tomorrow.
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Great news!
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Sorry for the delay. First visual odometry results:
+------------+-----------------+-----------+------------------+
| Collection | top_left_camera | top_lidar | top_right_camera |
+------------+-----------------+-----------+------------------+
| 001 | --- | 0.0103 | 2.7563 |
| 003 | 6.7774 | 0.0096 | 1.2495 |
| 004 | 4.0773 | 0.0105 | 2.0559 |
| 005 | 3.9159 | 0.0085 | 2.2760 |
| 006 | 3.2790 | 0.0100 | 1.6496 |
| 007 | 2.0665 | 0.0100 | 1.3092 |
| 008 | 3.1203 | 0.0092 | 0.9522 |
| 009 | 5.9876 | 0.0106 | 3.8814 |
| 010 | --- | 0.0100 | 1.5831 |
| 011 | --- | 0.0114 | 1.8442 |
| 012 | --- | 0.0106 | 2.9467 |
| 013 | --- | 0.0098 | 2.7943 |
| 014 | --- | 0.0131 | 3.1695 |
| 015 | --- | 0.0109 | 4.3474 |
| 016 | 2.5169 | 0.0099 | 2.3851 |
| 017 | 2.4150 | 0.0105 | 2.3770 |
| 018 | 3.3534 | 0.0111 | 2.6282 |
| 019 | 2.3592 | 0.0112 | 2.3401 |
| 020 | 3.4652 | 0.0097 | 4.0052 |
| 021 | 5.6373 | 0.0111 | --- |
| 022 | 2.7643 | 0.0094 | --- |
| 023 | 3.6247 | 0.0114 | --- |
| 024 | 2.7580 | 0.0097 | --- |
| 025 | 3.1797 | 0.0100 | --- |
| 026 | 2.8140 | 0.0095 | --- |
| 027 | 2.4327 | 0.0088 | --- |
| 028 | 2.1992 | 0.0117 | --- |
| 029 | 2.3798 | 0.0088 | 3.3517 |
| 030 | 1.3417 | 0.0109 | --- |
| 031 | --- | 0.0202 | 1.6913 |
| 032 | --- | 0.0159 | 0.9254 |
| 033 | --- | 0.0119 | 1.3109 |
| 034 | 4.5533 | 0.0096 | 1.3188 |
| 035 | 5.3327 | 0.0094 | 2.2938 |
| 036 | 6.8277 | 0.0090 | 3.3884 |
| 037 | 7.7863 | 0.0100 | 4.7686 |
| 038 | 7.4249 | 0.0089 | 1.6625 |
| Averages | 3.8663 | 0.0106 | 2.4022 |
+------------+-----------------+-----------+------------------+
These results are a lot better than others presented. The lidar points are well-aligned, as can be seen here;
The presented error now is noticeable in some camera collections. Is it reasonable to say the error derived from odometry has been sufficiently diminished and now a new source of error needs to be found? I can try calibrating without some of the outlier collections, I do not know how feasible that would be.
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Hi @manuelgitgomes,
The presented error now is noticeable in some camera collections. Is it reasonable to say the error derived from odometry has been sufficiently diminished and now a new source of error needs to be found? I can try calibrating without some of the outlier collections, I do not know how feasible that would be.
It is possible to run the calibration ignoring some collections, for that you use the -csf (collection selection function) argument.
However, I cannot see in the table collections which are much worse than others, so I am not sure which collection you would take away ...
About the other question, you first have to characterize what you called visual odometry. Is it the one based on Lidar? Because visual odometry is usually a term used for odometry using rgb images.
If its the lidar was it with ICP? How much was the error after the ICP iterations?
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Hello!
However, I cannot see in the table collections which are much worse than others, so I am not sure which collection you would take away ...
I took off some collections and the residuals did not suffer any discernible difference.
Because visual odometry is usually a term used for odometry using rgb images.
Sorry! I was talking about the ICP one.
The error was low, around 7e-2/8e-2.
I will create a test dataset and run some evaluations.
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
Hi @manuelgitgomes ,
can we talk a bit this afternoon? There is an idea I would like to share ...
from atlascar2.
manuelgitgomes
commented on September 2, 2024
Sure, what time? I'm available after 15
from atlascar2.
miguelriemoliveira
commented on September 2, 2024
OK, I can call you at 15h.
* Miguel Riem de Oliveira *
Diretor de curso Mestrado Eng. Automação Industrial
email: ***@***.*** | ***@***.***
zoom: https://videoconf-colibri.zoom.us/j/7155402102
office: 22.2.18 | ext: 23887
Dep. de Engenharia Mecânica, Universidade de Aveiro
*Campus Universitário de Santiago, 3810-193 Portugal*
…On Wed, Jul 27, 2022 at 1:02 PM Manuel Gomes ***@***.***> wrote:
Sure, what time? I'm available after 15
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