hcyoo93/odom-lidar-param

Produces Odometry-LiDAR calibration parameters from rosbag

Odometry-LiDAR Calibration

Requires Pandas and NumPy python libraries! Please install before continuing

Setup is lengthy, I recommend running the following as a shell script to reduce hassles.
Though I explain each step below briefly.

mkdir odom_lidar_calibration
cd odom_lidar_calibration
sudo apt install gsl-bin libgsl0-dev
git clone git://github.com/AndreaCensi/csm.git
cd csm
cmake .
make
sudo make install
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig/:$PKG_CONFIG_PATH
cd ..
git clone git://github.com/AndreaCensi/calibration.git
cd calibration/src
cmake .
make
cd ../..
git clone git://github.com/anishant/odom-lidar-param.git
sed -i -e 's/"l90 lmov lstraight"/"fromscript"/g' calibration/scripts/script_variables.sh

1. Create a new working directory for calibration purposes
2. Install CSM
   1. sudo apt install gsl-bin libgsl0-dev
   2. git clone git://github.com/AndreaCensi/csm.git
   3. cd csm
   4. cmake .
   5. make
   6. sudo make install
   7. export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig/:$PKG_CONFIG_PATH
3. Install Calibration in the same directory
   1. git clone git://github.com/AndreaCensi/calibration.git
   2. cd calibration/src
   3. cmake .
   4. make
4. Install odom-lidar-param in the same directory
   • git clone git://github.com/anishant/odom-lidar-param.git
5. Change name of file to be used in calibration package
   • sed -i -e 's/"l90 lmov lstraight"/"fromscript"/g' calibration/scripts/script_variables.sh

Usage

The bag can be anywhere in the filesystem, the code doesn't rely on copying the bag to save time.

1. cd odom-lidar-param
2. chmod +x ./calibrate.sh
3. ./calibrate.sh yourbagpath/yourbagname.bag

This generates the file with calibration parameters in the newly generated base folder.