diff --git a/tools/LidarCameraCalibration/README.md b/tools/LidarCameraCalibration/README.md index ccbfa79e..3ffa4d3a 100644 --- a/tools/LidarCameraCalibration/README.md +++ b/tools/LidarCameraCalibration/README.md @@ -86,12 +86,12 @@ With each of them, two images show the maps the lidar edges are found from, at t - `_intensity_1_before.png`, `_intensity_2_after.png`: the lidar's intensity per cell, as used (mean log-intensity, median filtered), from red (dark) to yellow (bright), with the contrast stretched for each image. The intensity edges are where it changes; they should line up with green where the image shows the same change of material. - `_normals_1_before.png`, `_normals_2_after.png`: how each cell's surface faces the camera, from yellow (facing it) to red (seen edge on, at a grazing angle). Surfaces at a grazing angle are where depth changes fast without a discontinuity, and where the intensity drops. The normals are computed on the scans voxelized at `--crease_voxel`, so this image is made whether or not creases are used. -For the same node, before (left) and after (right) the correction: the holds stand out in yellow in the intensity, as do the walls' and floor's orientations in the normals; once corrected, the map's edges (blue) lie on the image's (green). +Before (left) and after (right) the correction: the intensity of the same node, where the holds stand out in yellow, and the normals of another, where the climbing wall seen at a grazing angle is red against the walls facing the camera in yellow. Once corrected, the map's edges (blue) lie on the image's (green). | Before | After | |---|---| | ![intensity before](images/1621_intensity_1_before.jpg) | ![intensity after](images/1621_intensity_2_after.jpg) | -| ![normals before](images/1621_normals_1_before.jpg) | ![normals after](images/1621_normals_2_after.jpg) | +| ![normals before](images/2093_normals_1_before.jpg) | ![normals after](images/2093_normals_2_after.jpg) | It is also worth running it again with other values of `--decimation`, `--intensity_jump` or `--voxel` (which voxel filters the scans first, to compare densities): a result that does not move with them is more trustworthy than one that does. diff --git a/tools/LidarCameraCalibration/images/1621_normals_1_before.jpg b/tools/LidarCameraCalibration/images/1621_normals_1_before.jpg deleted file mode 100644 index 4cb33475..00000000 Binary files a/tools/LidarCameraCalibration/images/1621_normals_1_before.jpg and /dev/null differ diff --git a/tools/LidarCameraCalibration/images/1621_normals_2_after.jpg b/tools/LidarCameraCalibration/images/1621_normals_2_after.jpg deleted file mode 100644 index 90fdefe8..00000000 Binary files a/tools/LidarCameraCalibration/images/1621_normals_2_after.jpg and /dev/null differ diff --git a/tools/LidarCameraCalibration/images/2093_normals_1_before.jpg b/tools/LidarCameraCalibration/images/2093_normals_1_before.jpg new file mode 100644 index 00000000..8cfd89db Binary files /dev/null and b/tools/LidarCameraCalibration/images/2093_normals_1_before.jpg differ diff --git a/tools/LidarCameraCalibration/images/2093_normals_2_after.jpg b/tools/LidarCameraCalibration/images/2093_normals_2_after.jpg new file mode 100644 index 00000000..3a1aacc5 Binary files /dev/null and b/tools/LidarCameraCalibration/images/2093_normals_2_after.jpg differ