Odometry calibration in AtlasCar2 #41
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enhancement
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|
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. |
|
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 when running your bagfile. |
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
|
|
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. |
|
Should I do this too or should I add to the future work as well? |
|
Right now I would say finish writting with what you got. Then we'll see if we have time. |
|
Ok sure. Thank you! |
|
Hi @miguelriemoliveira, I will add it! |
|
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 |
+------------+-----------------+-----------+------------------+ |
|
OpenCV calibration: Simulation: 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: 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 |
|
|
Hello @miguelriemoliveira! I have some questions about the results. |
|
Hi @manuelgitgomes ,
I think presenting both is relevant. Just explain properly the differences between both.
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. Keep it up! |
|
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 |
+-----------------+-----------+-------------+-------------+
|
|
I will call you to try to understand better the results. They look good I think... |
|
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: |
|
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
|
|
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. |
Hello! Ok, sure, inside atlascar2_description maybe. Tomorrow we will be to atlasPC and can copy them. |
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... and I think you could actually when launching the cameras point to these files as the ones to load the intrinsics... |
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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. |
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@manuelgitgomes the video looks really nice. I think we can get a reasonable calibration with this odometry ... |
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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. 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() |
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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... |
The errors are noticeable, severely more than the ones shown in the video. So I think these errors are expected.
This sounds like a good idea, I will try it tomorrow! |
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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. |
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 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. |
manuelgitgomes
added a commit
that referenced
this issue
Jul 13, 2022
|
Visual odometry tool created using ICP. Results coming tonight or tomorrow. |
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Great news! |
manuelgitgomes
pushed a commit
that referenced
this issue
Jul 27, 2022
|
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. |
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Hi @manuelgitgomes,
It is possible to run the calibration ignoring some collections, for that you use the -csf (collection selection function) argument. 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. |
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Hello!
I took off some collections and the residuals did not suffer any discernible difference.
Sorry! I was talking about the ICP one. |
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Hi @manuelgitgomes , can we talk a bit this afternoon? There is an idea I would like to share ... |
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Sure, what time? I'm available after 15 |
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OK, I can call you at 15h.
* Miguel Riem de Oliveira *
Diretor de curso Mestrado Eng. Automação Industrial
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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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First simulation results:
With
-nig 0.1 0,1:And here's a video!
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