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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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Lidar-GNSS Calibration #6

Closed TheTomer closed 2 years ago

TheTomer commented 2 years ago

Hi @zxl19 , I'd like to use your code to perform a Lidar to GNSS/INS alignment, but I'm not sure how to translate my data to fit the desired input.

For the Lidar - I have point clouds with a timestamp, x,y,z coordinates and intensity for each point. For the GNSS - I have a whole lot of information, which also contains latitude, longitude, elevation, angle (headings, pitch, roll), etc.

How can I convert that data to the format your code requires?

zxl19 commented 2 years ago

Hi @TheTomer , you can refer to the Input Pose Format section in README.md for more details. Basically you need a LiDAR SLAM algorithm to estimate LiDAR poses and convert LiDAR and GNSS poses into required format before using this repository for calibration. If you encounter further problems, please let me know.

Best regards.

TheTomer commented 2 years ago

Thanks for your quick reply @zxl19 , could you please clarify what qw qx qy qz mean?

zxl19 commented 2 years ago

Hi @TheTomer , qw qx qy qz is a quaternion representing rotation.

$\boldsymbol{q} = q{w} + q{x}\boldsymbol{i} + q{y}\boldsymbol{j} + q{z}\boldsymbol{k}$