/autoware_camera_lidar_calibrator

This is a project for camera-lidar extrinsic calibration, which is seperated from Autoware: https://gitlab.com/autowarefoundation/autoware.ai/utilities/tree/master/autoware_camera_lidar_calibrator

Primary LanguageC++

Usage

Camera-LiDAR Extrinsic Calibration

Calibration

Follow the instructions of the calibration tool from Autoware to get the extrinsic parameters.

The graph shown by rqt_graph should be similar to the following:

Graph

Evalutation

  1. Update the camera parameter file in autoware_camera_lidar_calibrator/data.

  2. Launch the script:

    roslaunch autoware_camera_lidar_calibrator evaluate_camera_lidar_calibration.launch  calib_file:=/path/to/autoware_lidar_camera_calibration.yaml

  3. Play the bag:

    rosbag play data.bag

The graph shown by rqt_graph should be similar to the following:

Graph

The images shown in the viewer should be like:

Evalutation