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heethesh / lidar_camera_calibration

Light-weight camera LiDAR calibration package for ROS using OpenCV and PCL (PnP + LM optimization)
BSD 3-Clause "New" or "Revised" License
536 stars 118 forks source link

Could this be used with real time data? #5

Open dejongyeong opened 4 years ago

dejongyeong commented 4 years ago

Hi, I would like to know does this package work if I doesn't use rosbag? I'll launch camera and velodyne in different terminal that publish the require topic as mentioned in the README.md.

Thanks.

heethesh commented 4 years ago

Yes it should work, you can still launch the GUI and pick (and save) corresponding 2D/3D points. Make sure the camera is calibrated and camera_info topic is updated properly with the new parameters.

dejongyeong commented 4 years ago

Hi @heethesh, thanks for getting back to me, do I need to save the calibrated YAML file? I used the camera calibrator from ROS to calibrate the camera.

heethesh commented 4 years ago

Yes, if you save it in /home/.ros folder (not sure) - which is the default save path, I believe ROS will automatically pick the data from here for a given camera name. You can double check by running rostopic echo on the camera_info topic in the terminal.

dejongyeong commented 4 years ago

Ok @heethesh Thanks for the information. I'll give it a try and see how it goes. I might need some pointers if I have some difficulties. Thanks.

heethesh commented 4 years ago

No problem, you may want to update the point-cloud visible ranges for the GUI here. Working on a new update that uses Rviz GUI instead of Matplotlib which should be more convenient to work with.

dejongyeong commented 4 years ago

Ok. I'm new to ROS and will look into details once I got that to work. Thanks.

dejongyeong commented 4 years ago

Hi @heethesh, one quick question that I would like to ask, does it work for LiDAR 32 channel?

heethesh commented 4 years ago

yes it should work