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UMich-BipedLab / extrinsic_lidar_camera_calibration

This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.
https://ieeexplore.ieee.org/document/9145571
GNU Affero General Public License v3.0
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Different hardware #6

Closed mac137 closed 4 years ago

mac137 commented 4 years ago

Hi! I would like to ask how to use different hardware with your code? Namely, I have a different lidar (VLP-16) and a different camera (Ximea). How to adjust your code to use the hardware in the most efficient way?

brucejk commented 4 years ago

Hi,

No matter what hardware you have, you can use this package! The only thing you need to do is collect your own dataset with your sensor suite. Please closely follow this. Please let me know if you have any further questions.

For targets for both LiDAR and camera, please download from here. You can place any number of targets with different sizes in different datasets. However, when placing boards, make sure the left corner is taller than the right corner as shown here