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# FAST-LIVO2 calibration format |
cam_model: Pinhole |
cam_width: 1280 |
cam_height: 1024 |
scale: 1.0 |
cam_fx: 1312.55 |
cam_fy: 1315.88 |
cam_cx: 654.029 |
cam_cy: 493.491 |
cam_d0: -0.0931107 |
cam_d1: 0.11652 |
cam_d2: -0.00162809 |
cam_d3: -0.000815772 |
Rcl: [ -0.006047, -0.999982, -0.000244, |
0.367458, -0.001995, -0.930038, |
0.930021, -0.005713, 0.367464] |
Pcl: [ 0.009922, -0.127191, 0.017425] |
[fast_calib-1] [DEBUG] Starting QR code detection... |
[fast_calib-1] 4 centers found. Iterating over 1 possible sets of candidates |
[fast_calib-1] [DEBUG sortPatternCenters] Input centers: 4, mode: camera |
[fast_calib-1] [DEBUG] QR detection complete. Centers found: 4 |
[fast_calib-1] [DEBUG] QR Center 0: (-0.195638, -0.238554, 1.87539) |
[fast_calib-1] [DEBUG] QR Center 1: (0.304248, -0.248788, 1.87231) |
[fast_calib-1] [DEBUG] QR Center 2: (0.31246, 0.151106, 1.87644) |
[fast_calib-1] [DEBUG] QR Center 3: (-0.187426, 0.16134, 1.87953) |
[fast_calib-1] [DEBUG] Starting LiDAR detection... |
[fast_calib-1] [DEBUG] Input cloud size: 15016704 |
[fast_calib-1] [INFO] [1765727807.783765348] [fast_calib]: Filtered cloud size: 1011137 |
[fast_calib-1] [INFO] [1765727807.871278940] [fast_calib]: Filtered cloud size: 274018 |
[fast_calib-1] [INFO] [1765727808.294899361] [fast_calib]: Plane cloud size: 135502 |
[fast_calib-1] [INFO] [1765727813.017976915] [fast_calib]: Extracted 6079 edge points. |
[fast_calib-1] [INFO] [1765727813.036233665] [fast_calib]: Number of edge clusters: 4 |
[fast_calib-1] [DEBUG LidarDetect] Starting circle fitting for 4 clusters... |
[fast_calib-1] inliers->indices.size() 508 0.0190654 |
[fast_calib-1] [DEBUG LidarDetect] Cluster 0: inliers=508, cluster_size=508, error=0.0190654, circle_center=(0.292135, 0.18833), fitted_radius=0.102435, expected_radius=0.1215, radius_error=0.0190654 (15.6917%) |
[fast_calib-1] [DEBUG LidarDetect] Cluster 0 accepted as valid circle (error < 0.02, radius error < 50%) |
[fast_calib-1] [DEBUG LidarDetect] Added center at original coords: (1.83892, 0.18593, 0.416167) |
[fast_calib-1] inliers->indices.size() 488 0.0191921 |
[fast_calib-1] [DEBUG LidarDetect] Cluster 1: inliers=488, cluster_size=488, error=0.0191921, circle_center=(0.277951, -0.270428), fitted_radius=0.102308, expected_radius=0.1215, radius_error=0.0191921 (15.796%) |
[fast_calib-1] [DEBUG LidarDetect] Cluster 1 accepted as valid circle (error < 0.02, radius error < 50%) |
[fast_calib-1] [DEBUG LidarDetect] Added center at original coords: (1.82927, -0.313621, 0.424432) |
[fast_calib-1] inliers->indices.size() 453 0.0223008 |
[fast_calib-1] [DEBUG LidarDetect] Cluster 2: inliers=453, cluster_size=453, error=0.0223008, circle_center=(-0.0985905, -0.258903), fitted_radius=0.0992137, expected_radius=0.1215, radius_error=0.0222863 (18.3426%) |
[fast_calib-1] [DEBUG LidarDetect] Cluster 2 stored as backup candidate (error=0.0223008, radius_error=18.3426%) |
[fast_calib-1] inliers->indices.size() 452 0.0229295 |
[fast_calib-1] [DEBUG LidarDetect] Cluster 3: inliers=452, cluster_size=452, error=0.0229295, circle_center=(-0.0846133, 0.1996), fitted_radius=0.0985705, expected_radius=0.1215, radius_error=0.0229295 (18.872%) |
[fast_calib-1] [DEBUG LidarDetect] Cluster 3 stored as backup candidate (error=0.0229295, radius_error=18.872%) |
[fast_calib-1] [DEBUG LidarDetect] Circle fitting complete. Found 2 valid circles. |
[fast_calib-1] [DEBUG LidarDetect] Only 2 circles found. Attempting to add best candidates from 2 backup options... |
[fast_calib-1] [DEBUG LidarDetect] Adding backup candidate from cluster 2 (score=0.0706385, error=0.0223008, radius_error=18.3426%) |
[fast_calib-1] [DEBUG LidarDetect] Backup center at: (1.67875, -0.304334, 0.794309) |
[fast_calib-1] [DEBUG LidarDetect] Adding backup candidate from cluster 3 (score=0.0726666, error=0.0229295, radius_error=18.872%) |
[fast_calib-1] [DEBUG LidarDetect] Backup center at: (1.68831, 0.194937, 0.786243) |
[fast_calib-1] [DEBUG LidarDetect] After adding candidates: 4 circles total. |
[fast_calib-1] [DEBUG] LiDAR detection complete. Centers found: 4 |
[fast_calib-1] [DEBUG] LiDAR Center 0: (1.83892, 0.18593, 0.416167) |
[fast_calib-1] [DEBUG] LiDAR Center 1: (1.82927, -0.313621, 0.424432) |
[fast_calib-1] [DEBUG] LiDAR Center 2: (1.67875, -0.304334, 0.794309) |
[fast_calib-1] [DEBUG] LiDAR Center 3: (1.68831, 0.194937, 0.786243) |
[fast_calib-1] [DEBUG] Sorting QR centers... |
[fast_calib-1] [DEBUG sortPatternCenters] Input centers: 4, mode: camera |
[fast_calib-1] [DEBUG] Sorted QR centers: 4 |
[fast_calib-1] [DEBUG] Sorted QR Center 0: (-0.195638, -0.238554, 1.87539) |
[fast_calib-1] [DEBUG] Sorted QR Center 1: (-0.187426, 0.16134, 1.87953) |
[fast_calib-1] [DEBUG] Sorted QR Center 2: (0.31246, 0.151106, 1.87644) |
[fast_calib-1] [DEBUG] Sorted QR Center 3: (0.304248, -0.248788, 1.87231) |
[fast_calib-1] [DEBUG] Sorting LiDAR centers... |
[fast_calib-1] [DEBUG sortPatternCenters] Input centers: 4, mode: lidar |
[fast_calib-1] [DEBUG] Sorted LiDAR centers: 4 |
[fast_calib-1] [DEBUG] Sorted LiDAR Center 0: (1.68831, 0.194937, 0.786243) |
[fast_calib-1] [DEBUG] Sorted LiDAR Center 1: (1.83892, 0.18593, 0.416167) |
[fast_calib-1] [DEBUG] Sorted LiDAR Center 2: (1.82927, -0.313621, 0.424432) |
[fast_calib-1] [DEBUG] Sorted LiDAR Center 3: (1.67875, -0.304334, 0.794309) |
[fast_calib-1] [DEBUG] Computing SVD transformation... |
[fast_calib-1] [DEBUG] Source (LiDAR) points: 4 |
[fast_calib-1] [DEBUG] Target (QR) points: 4 |
[fast_calib-1] [DEBUG] Transformation computed. |
[fast_calib-1] [DEBUG] Aligning LiDAR centers to QR coordinate system... |
[fast_calib-1] [DEBUG] Aligned centers count: 4 |
[fast_calib-1] [DEBUG] Computing RMSE... |
[fast_calib-1] [INFO] [1765727813.051631177] [fast_calib]: [Result] RMSE: 0.0003 m |
[fast_calib-1] [INFO] [1765727813.051685073] [fast_calib]: [Result] Extrinsic parameters T_cam_lidar: |
[fast_calib-1] [DEBUG] RMSE successfully computed: 0.000334354 m |
[fast_calib-1] -0.006047 -0.999982 -0.000244 0.009922 |
[fast_calib-1] 0.367458 -0.001995 -0.930038 -0.127191 |
[fast_calib-1] 0.930021 -0.005713 0.367464 0.017425 |
[fast_calib-1] 0.000000 0.000000 0.000000 1.000000 |
[fast_calib-1] [DEBUG] Projecting point cloud to image... |
[fast_calib-1] [DEBUG] Input cloud size for projection: 15016704 |
[fast_calib-1] [DEBUG] Colored cloud size: 1489881 |
1590193610.300192 -0.000143 -0.000691 -0.000018 0.004749 0.228892 -0.007048 0.973415 |
1590193610.500352 0.073986 0.020576 0.011062 -0.003635 0.231365 0.001670 0.972859 |
1590193610.600192 0.152325 0.033034 0.021751 0.001180 0.228151 0.012026 0.973551 |
1590193610.800352 0.301226 0.077930 0.022042 0.010656 0.230191 0.047434 0.971930 |
1590193610.900192 0.368852 0.104052 0.028459 0.003411 0.227378 0.069499 0.971317 |
1590193611.100365 0.496605 0.173151 0.043388 -0.024491 0.231138 0.121662 0.964973 |
1590193611.200205 0.560130 0.188814 0.035618 -0.038765 0.238470 0.144605 0.959541 |
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