TL-4319/nile_calibration

NILE Calibration

This repo contains codes for multi modal extrensic calibration for NILE dataset. It also provide simulation to evaluate different methods.

Dependencies

• Ubuntu 22.04

For synthetic data generation. Follow instruction from ROS2 wiki

• ROS2 Humble
• Ignition Gazebo Fortress
• MATLAB with ROS packages for processing

Run sim

ign gazebo -r <scene.world>

Start ros gz bridge

We want to only transfer the thermal and optical images as well as point cloud to be saved as rosbag for processing with Matlab To transport data from gazebo to ros2 sim, run the following in a sourced terminal

ros2 run ros_ign_bridge parameter_bridge /lidar/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked \
     /thermal_camera_8bit_left/image@sensor_msgs/msg/Image@gz.msgs.Image \
     /thermal_camera_8bit_right/image@sensor_msgs/msg/Image@gz.msgs.Image \
     /camera_left/image@sensor_msgs/msg/Image@gz.msgs.Image \
     /camera_right/image@sensor_msgs/msg/Image@gz.msgs.Image 

Recording as bag

In a sourced terminal, run the following

ros2 bag record /lidar/points /thermal_camera_8bit_left/image /thermal_camera_8bit_right/image /camera_left/image /camera_right/image