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PJLab-ADG / SensorsCalibration

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
Apache License 2.0
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LidartoLidar Octreebased method not implemented ? #32

Open Tianyun-Xuan opened 2 years ago

Tianyun-Xuan commented 2 years ago

Hi, thank you for sharing the repository, appreciate for your work. I am interested in your Lidar-to-Lidar auto calibration process. I can find the following interfaces, while they are not used, neither implemented.

bool RegistrationByVoxelOccupancy(const Eigen::Matrix4d &init_guess,
                                    Eigen::Matrix4d &refined_extrinsic);
size_t ComputeVoxelOccupancy(const Eigen::Matrix4d &init_guess);

This is an idea method or you have already tested its performance? Looking forward for your reponses.

xiaokn commented 2 years ago

size_t ComputeVoxelOccupancy(const Eigen::Matrix4d &init_guess);

Sorry, for some reason, I deleted this part of the code and will add it later.