/JointCalib

Primary LanguageC++

Joint Camera Intrinsic and LiDAR-Camera Extrinsic Calibration.

This is a project for LiDAR to camera joint calibration[paper]. For more calibration codes, please refer to the link SensorsCalibration

Prerequisites

  • Cmake
  • Opencv 2.4.13
  • PCL 1.9

Compile

Compile in their respective folders

# mkdir build
mkdir -p build && cd build
# build
cmake .. && make

Usage

  1. Two Input files:

    ./lidar2camera camera_dir csv_file

  • camera_dir: Collected camera calibration board data
  • csv_file: The circles center points corresponding to the images

Note: To extract the circles center form PCD files, please refer to README.md.

  1. Run the test sample:

    The executable file is under the bin folder.

    cd ~./lidar2camera/joint_calib
./bin/lidar2camera data/intrinsic/ data/circle.csv

  2. Calibration result:

    Calibration result Calibration result Calibration result Calibration result

Reference

The code is developed based on camera calibration cpp