This project includes the extrinsic calibration library and gui tool for calibrating the extrinsic parameter(6-DoF rigid-body transformation) between the camera and LiDAR. This method needs convex polygon plane as calibration object and the camera intrinsic parameter(K, D) are needed (if images are not undistorted).
note: current implemention only support rectangular plane
we test on Ubuntu 16.04
, if you already install ros kinect and then you only need to compile and install ceres-solver.
$ mkdir build& cd build
$ cmake .. # build library and QT GUI
$ cmake -DBUILD_PlyCal_TEST=True .. #build test tools(only for debug usage)
$ make
We have tested the current qt-based tool with RSLidar-16, RSlidar-32, Rslidar-mems by rectangular plane. And we provide test data and config file under ./data
directory which was collected with RSLidar-16 and usb webcam.
Before using the gui tool:
D, K
at config file or set by gui. some_place/image_orig
and some_place/pointcloud
directory, respectively. Name the file like 0.jpg, 1.jpg, ..., n.jpg
.For the method you can read the paper:
@INPROCEEDINGS{8665256,
author={Q. {Liao} and Z. {Chen} and Y. {Liu} and Z. {Wang} and M. {Liu}},
booktitle={2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
title={Extrinsic Calibration of Lidar and Camera with Polygon},
year={2018},
volume={},
number={},
pages={200-205},
keywords={calibration;cameras;feature extraction;image fusion;image sensors;micromechanical devices;optical radar;sensor fusion;stereo image processing;heterogeneous exteroceptive sensors;heterogeneous sensory systems;multisensor information;polygon board;t6/32-beam Lidar;extrinsic calibration;MEMS-Lidar;point-cloud;laser range finder;2D feature space;3D feature space;Calibration;Cameras;Laser radar;Three-dimensional displays;Sensors;Image edge detection;Two dimensional displays},
doi={10.1109/ROBIO.2018.8665256},
ISSN={},
month={Dec},}