I can't detect my chessboard in the point cloud

Hello everyone,

So I was trying to calibrate my lidar and camera using both the app Lidar Camera calibrator and the script in Lidar and Camera Calibration - MATLAB & Simulink - MathWorks France. I was able to detect the chessboard corners on the images but I couldn't detect it on the point clouds (pcd file with x y z values with 32000 points) associated, and I was wondering if it's due to the noisy point cloud and so we must do a preprocessing to the data, or there is any other solution. I have tried multiple positions to place the chessboard (near the lidar, far ) but in all of them it didn't manage to detect the rectangle.

Answer 1

[Bipratim Saha]

Hi Mehdi,

As per my understanding, your checkerboard is not getting detected in the point cloud.

Please ensure that you are following the data capturing guidelines as per the following documentation

https://www.mathworks.com/help/lidar/ug/lidar-camera-calibration-guidelines.html#mw_97bfb7f4-c847-44f9-9e31-692ed5c21cd5

Further you can also tune the name-value arguments of the “detectRectangularPlanePoints” as per the following documentation:

https://www.mathworks.com/help/lidar/ref/detectrectangularplanepoints.html#namevaluepairarguments

Hope this helps :)