PCD are coming as black screen while doing camera-lidar calibration

While performing the Camera Lidar calibration in the Lidar Camera Calibrator under the Image processing and computer vision toolbox . The toolbox is showing the pcd files as black screen with no points, while on th left hand side preview section it's showing them as the PCD are actually. I am confused and nned help as to why this is hapenning. The specifications are as follows:

No of image-PCD pair : 19

Checkerboard size: 50mm

padding = [0 0 0 0]

Toolbox : Image Processing and Computer Vision / Camera Lidar Calibrator

Matlab version : R2022a

OS : Ubuntu 20.04

PF the attached screenshots :

Answer 1

[Aishwarya]

Hi Harshal,

After reviewing the information provided, the problem seems to be that you are unable to visualize the point cloud data in the Lidar Camera Calibrator App on your Linux system. According to the App's documentation, there are known issues with point cloud axis tools and general slow responsiveness on Linux machines.

The problem could be related to graphics rendering on the machine. Here are a few suggestions that can help resolve this issue:

• You can refer to the below documentation for recommended requirements for graphics. This will give a better understanding of the graphic requirements: https://www.mathworks.com/help/matlab/creating_plots/system-requirements-for-matlab-graphics.html
• Consider updating the graphics driver in your system.
• Check the graphics renderer used by MATLAB in your current session with the command:

     info = rendererinfo
     

• If the "GraphicsRenderer" field in the output is "OpenGL Software", this indicates that MATLAB is using a software implementation of OpenGL, which may cause performance issues. To switch to a hardware-accelerated renderer, use the command:

     opengl hardware
     

For further guidance on selecting the appropriate renderer, refer to the documentation here: https://www.mathworks.com/help/matlab/creating_plots/resolving-low-level-graphics-issues.html.

For more details, you can explore the following resources:

• Lidar Camera Calibrator App documentation: https://www.mathworks.com/help/lidar/ref/lidarcameracalibrator-app.html.
• Getting Started guide for the Lidar Camera Calibrator App: https://www.mathworks.com/help/lidar/ug/get-started-lidar-camera-calibrator.html.
• "rendererinfo" function: https://www.mathworks.com/help/matlab/ref/rendererinfo.html

I hope this information is helpful.