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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
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Using .PCD files #9

Closed Barath19 closed 4 years ago

Barath19 commented 4 years ago

Hi, is it possible to calibrate with .pcd file as an input?!...could you provide any useful theory / blogs for lidar calibration.

heethesh commented 4 years ago

The calibrate function itself just takes in corresponding 2D/3D points to estimate the pose. If you want to use the picker GUI, just get rid of all the ROS stuff and use the code from where the point cloud is in Numpy format. You may use Open3D to load your .pcd file and convert it to np.ndarray. Note, you may need multiple poses (of a checkerboard, possibly multiple pcd files) or multiple correspondences in the same point cloud/image should also work!

The theory is based on PnP algorithms and optionally non-linear refinement using LM optimization (see Factor Graphs book Ch 2/6).