xmba15 / automatic_lidar_camera_calibration Goto Github PK

Thanks for your open-source project!
I have ran your sample data. It's wonderful!
But after I use my data, registration mistake happened, Like this:

It may be the result of different distortion parameters. However, I can't find the position to change distortion parameters.
SO, could you please tell me where can I change distortion parameters?
Or, is this project take camera distortion effect into consideration?

After filingl absolute paths to the files in calibration_handler_param.json，
I run the examples by " ./build/examples/sensors_calib_app ./data/samples/calibration_handler_param.json" ,
but the terminal says "number of images and point clouds must be the same".
The variable value is "imagePaths.size()= 10243 pointcloudPaths.size()= 32043" by printed in terminal.

absolute paths filled in calibration_handler_param.json is as follows:
"path_to_initial_guess": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/initial_guess.json",
"path_to_images": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/image.png",
"path_to_point_clouds": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/pointcloud.pcd",
"path_to_camera_info": "/home/callmelxh/Code/automatic_lidar_camera_calibration-master/data/samples/camera_info.json",

Could you help me slove this problem ,Thanks.

Thanks for great implement.
the function 'estimateJS' confused me, could you please give some explain？
https://github.com/xmba15/automatic_lidar_camera_calibration/blob/master/src/ProbabilityHandler.cpp