[marker_radar_lidar_calibrator] Adding pair is not possible

[Sophie2216]

Hello!
Unfortunately, the marker radar lidar calibrator does not work for me. Hopefully, you can help me with the following problem:

I am trying to calibrate the lidar_top, which is a ouster_os2, with the lrr_front_ars548, which is a ARS548 3D radar. The initial TF tree is shown in the following screenshot:

For a better visualization, the TFs are located in the following way in 3D:

After the background extraction of the marker_radar_lidar_calibrator is finished, the corner reflector is placed into the environment and in the rviz2 visualization one can see the corner reflector as follows. Additionally, the blue dots are manually added to the marker_radar_lidar_calibrator view and showing the radar's detected objects according to the radar's topic.

A closer look is shown in the following two pictures, where it can be seen that the radars detected objects (blue) are not identical to the radar object_raw points (purple according your documentation of the marker_radar_lidar_calibrator). Several green marked lidar points (which are marker from the marker_radar_lidar_calibrator) also appear in the proximity of the corner reflector.


Since the marker_radar_lidar_calibrator finds lidar (green) and radar (purple) dots, the "Add lidar-radar pair" button was able to be pressed. Unfortunately, the pair is not established and the console has the following output:
[marker_radar_lidar_calibrator-2] [INFO] [1732291567.283530748] [marker_radar_lidar_calibrator]: lidarCallback [marker_radar_lidar_calibrator-2] [INFO] [1732291567.283549330] [marker_radar_lidar_calibrator]: There were no tracks [marker_radar_lidar_calibrator-2] [INFO] [1732291567.336945966] [marker_radar_lidar_calibrator]: lidarCallback [marker_radar_lidar_calibrator-2] [INFO] [1732291567.339657780] [marker_radar_lidar_calibrator]: Extracting foreground [marker_radar_lidar_calibrator-2] [INFO] [1732291567.339695228] [marker_radar_lidar_calibrator]: initial points: 131072 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.340580046] [marker_radar_lidar_calibrator]: cropped points: 129459 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.343981659] [marker_radar_lidar_calibrator]: voxel filtered points: 285 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.344404879] [marker_radar_lidar_calibrator]: tree filtered points: 12 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.480623977] [marker_radar_lidar_calibrator]: ransac filtered points: 12 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.480723653] [marker_radar_lidar_calibrator]: Cluster extraction input size: 12 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.480730139] [marker_radar_lidar_calibrator]: found cluster of size: 12 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.480738445] [marker_radar_lidar_calibrator]: Extracting lidar reflectors from clusters [marker_radar_lidar_calibrator-2] [INFO] [1732291567.480745983] [marker_radar_lidar_calibrator]: Colored clusters size=12 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481355589] [marker_radar_lidar_calibrator]: Extracting foreground [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481374676] [marker_radar_lidar_calibrator]: initial points: 200 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481387904] [marker_radar_lidar_calibrator]: cropped points: 135 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481406840] [marker_radar_lidar_calibrator]: voxel filtered points: 127 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481496107] [marker_radar_lidar_calibrator]: tree filtered points: 70 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481580595] [marker_radar_lidar_calibrator]: Cluster extraction input size: 70 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481588946] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481593272] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481597285] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481600920] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481604756] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481608270] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481611837] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481615115] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481618768] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481622034] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481625137] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481628448] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481631796] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481634958] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481638471] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481642061] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481645473] [marker_radar_lidar_calibrator]: found cluster of size: 4 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481649190] [marker_radar_lidar_calibrator]: found cluster of size: 1 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481652909] [marker_radar_lidar_calibrator]: found cluster of size: 1 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481659360] [marker_radar_lidar_calibrator]: Extracting radar reflectors from clusters [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481663864] [marker_radar_lidar_calibrator]: Radar reflector id=0 size=4 center: x=48.80 y=31.76 z=1.38 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481670877] [marker_radar_lidar_calibrator]: Radar reflector id=1 size=4 center: x=46.23 y=-12.88 z=1.37 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481676019] [marker_radar_lidar_calibrator]: Radar reflector id=2 size=4 center: x=46.57 y=-0.98 z=0.97 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481694995] [marker_radar_lidar_calibrator]: Radar reflector id=3 size=4 center: x=43.78 y=0.54 z=0.74 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481700286] [marker_radar_lidar_calibrator]: Radar reflector id=4 size=4 center: x=43.71 y=31.40 z=1.52 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481705257] [marker_radar_lidar_calibrator]: Radar reflector id=5 size=4 center: x=38.28 y=-7.61 z=0.98 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481710326] [marker_radar_lidar_calibrator]: Radar reflector id=6 size=4 center: x=32.35 y=13.40 z=1.68 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481715132] [marker_radar_lidar_calibrator]: Radar reflector id=7 size=4 center: x=30.22 y=-4.73 z=0.95 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481719935] [marker_radar_lidar_calibrator]: Radar reflector id=8 size=4 center: x=24.12 y=-3.04 z=0.46 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481724275] [marker_radar_lidar_calibrator]: Radar reflector id=9 size=4 center: x=20.25 y=-3.39 z=0.05 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481728954] [marker_radar_lidar_calibrator]: Radar reflector id=10 size=4 center: x=13.09 y=-10.34 z=1.01 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481733534] [marker_radar_lidar_calibrator]: Radar reflector id=11 size=4 center: x=10.21 y=-0.30 z=-0.02 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481738467] [marker_radar_lidar_calibrator]: Radar reflector id=12 size=4 center: x=9.80 y=-2.76 z=0.47 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481743346] [marker_radar_lidar_calibrator]: Radar reflector id=13 size=4 center: x=10.57 y=-5.40 z=0.13 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481748367] [marker_radar_lidar_calibrator]: Radar reflector id=14 size=4 center: x=7.16 y=4.29 z=-0.23 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481752716] [marker_radar_lidar_calibrator]: Radar reflector id=15 size=4 center: x=4.87 y=-2.68 z=0.95 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481756941] [marker_radar_lidar_calibrator]: Radar reflector id=16 size=4 center: x=28.56 y=13.86 z=1.12 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481761633] [marker_radar_lidar_calibrator]: Radar reflector id=17 size=1 center: x=19.72 y=13.63 z=0.95 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.481766340] [marker_radar_lidar_calibrator]: Radar reflector id=18 size=1 center: x=15.98 y=-15.70 z=0.37 [marker_radar_lidar_calibrator-2] [INFO] [1732291567.482007915] [marker_radar_lidar_calibrator]: Lidar detections: 0 Radar detections: 19 Matches: 0 Active tracks; 0 Converged tracks: 0
So it seems that radar detections are found but no lidar detections according to the console output although in the rviz2 visualization there are green marked lidar points.

So, why is it not possible to add the lidar-radar pair?