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zxl19 / Hand_Eye_Extrinsic_Calibration

MATLAB code for LiDAR-Camera-GNSS/INS extrinsic calibration based on hand-eye calibration method.
MIT License
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Hi,Could you teach me how to calibrate the imu with the lidar #2

Closed AdamPengG closed 2 years ago

AdamPengG commented 2 years ago

Hi, Zxl19. I have try use the tool to get the imu.dat . But there is no function for calibrate the imu with lidar. Could you tell me how to use this program to calibrate the imu and lidar.

zxl19 commented 2 years ago

Hi @AdamPengG ! In our case we used an inertial navigation system (GNSS+IMU) to estimate 6 DoF pose. If you can estimate IMU pose and output in this format, then you can config and run main_calibration_L2I_quat_interp.m to see the results. You can refer to this README file to prepare your data.

Best wishes.

AdamPengG commented 2 years ago

Thanks Z. Could I put the ros imu message's quaternion to replace the INS' quaternion.

zxl19 commented 2 years ago

Sure you can. But you may need to estimate the translation part of the pose by IMU integration.

AdamPengG commented 2 years ago

I got it. Thank you for your generous.