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ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"
http://arxiv.org/abs/1705.09785
GNU General Public License v3.0
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add hesai 40p support #96

Closed ruichen-v closed 4 years ago

ruichen-v commented 5 years ago
  1. Add parser for /pandar_points provided by Hesai Lidar Driver.
  2. Add option in config_file.txt to select between Velodyne lidar and Hesai lidar
  3. Updated README.md. Add a note about fixing synchronization between Hesai lidar driver and aruco mapping node.

Fixes #42 #48

ankitdhall commented 4 years ago

@ruichen-v thanks for creating the feature to make this work with LiDARs from Hesai. Can you resolve the conflicts so I can merge it?

ankitdhall commented 4 years ago

There is a change in the master (from another pull request) that allows for initializing the translation vector (in addition to the already existing initialization of the rotations).

GaHooooo commented 4 years ago

Hi , I try the code you post https://github.com/ruichen-v/lidar_camera_calibration , but only Mono8 window visible , Cloud and polygon doesn't work . Thanks 图片

ruichen-v commented 4 years ago

Hi, please make sure the following changes are made:

  1. In lidar_camera_calibration.yaml, adapt camera/lidar topic name to your actual setting.
  2. In find_transform.launch, change aruco mapping params.
  3. Change HesaiLidar-ros code according to README.

Hope it helps.

GaHooooo commented 4 years ago

Hi, please make sure the following changes are made:

1. In `lidar_camera_calibration.yaml`, adapt camera/lidar topic name to your actual setting.

2. In `find_transform.launch`, change aruco mapping params.

3. Change HesaiLidar-ros code according to README.

Hope it helps.

it works！！！！Thank you ！！！！