This work is an expend version of livox_camera_calib, which is suitable for spinning LiDAR。
In order to apply this algorithm on spinning LIDAR(e.g:VLP16)， I adding the preprocess process(FLOAM) to make the point cloud of the spinning LiDAR denser.
When you calibrate the rotating lidar and camera, record the data by holding the device(lidar and camera) stationary for a period of time and then slowly and repeatedly move the entire device in this direction to accumulate the point cloud.
cd ~/catkin_ws/src git clone https://github.com/AFEICHINA/expend_lidar_camera_calib.git cd .. catkin_make source ~/catkin_ws/devel/setup.bash
step1: doing slam to accumulate dense pointcloud.
roslaunch floam floam_XXX.launch
step2: lidar camera calibration
roslaunch livox_camera_calib calib_XXX.launch
LIDAR : Robosense RS-Bpearl Camera: MindVison MV-SUA133GC-T