/LidarEncoderCalibration

Primary LanguageC++

LidarEncoderCalibration

This project aims to calibrate the 4DOF extrinsic between a lidar and the encoder. The extrinsic is used in Lidar SLAM motion compensation. This setting is only for testing.

Prerequisites

PCL
Ceres
ROS(noetic)

Usage example

OS X & Linux: ubuntu 20.04

catkin_make
source devel/setup.sh
roslaunch rotationCalibration.launch

DEMO

The reconstruction using the calibrated extrinsic. image