search

acfr / cam_lidar_calibration

(ITSC 2021) Optimising the selection of samples for robust lidar camera calibration. This package estimates the calibration parameters from camera to lidar frame.
Apache License 2.0
458 stars 108 forks source link

calibration of lidar which has no 'Ring' value #12

Closed blueskych closed 2 years ago

blueskych commented 2 years ago

Hi, I am using the lidar which has no value of 'ring',and the scan pattern is different from velydone.
I saw your source code that it used the 'ring' to get the top left/right and bottom left/right of the board. So I want to ask if there's no "ring" value in my point cloud data, can I use the tool to do calibration?How to do it? Thanks.

darrenjkt commented 2 years ago

Yes this tool requires the ring value. Scan pattern does not have to be similar to the velodyne. For one of the lidars we had, it had a non-ring like pattern and no ring number provided by the manufacturer.

To get it to work with this tool, we modified the lidar driver to manually assign ring numbers for each point. For most lidars you should be able to count the number of horizontal lines (i.e. rings) of the lidar FOV.