This work is an expend version of livox_camera_calib(hku-mars/livox_camera_calib), which is suitable for spinning LiDAR。

Overview

expend_lidar_camera_calib

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.

Data Prepare

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.

Build

cd ~/catkin_ws/src
git clone https://github.com/AFEICHINA/expend_lidar_camera_calib.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash

Run

step1: doing slam to accumulate dense pointcloud.

roslaunch floam floam_XXX.launch

step2: lidar camera calibration

roslaunch livox_camera_calib calib_XXX.launch

My Result

LIDAR : Robosense RS-Bpearl
Camera: MindVison MV-SUA133GC-T

slam result:

calib result:

Acknowledgements

Thanks for livox_camera_calib and FLOAM.

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Comments
  • 速腾32线

    速腾32线

    你好,我使用速腾32线激光雷达,相机为USB免驱,使用rosbag录制了/points_raw和/usb_cam/image_raw两个主题的包, 修改了floam_rsbpearl32.launch和laserProcessingNode.cpp文件,如图所示 1 : 2 执行:roslaunch floam floam_rsbpearl32.launch,如图所示: 3 请问我错过了什么?谢谢!期待你的回复!

    opened by yyqgood 5
  • How can I solve the problem about

    How can I solve the problem about "LZ4_streamDecode_t"?

    Hello! When I run the command of "catkin_make", there is a problem about "LZ4_streamDecode_t". The detailed information is followed. error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ edef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~~~~~~~~~~~~~

    opened by Duke-Rodriguez-Rudolph 2
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