CAM_ODO_CALIB

calibrate the internel parameters and extrinsec parameters between camera and odometer

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. Ceres Solver

Follow Ceres Installation.

1.3. Others

OpenCV 3.3 , Eigen3

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone xxx
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)

3. Attention

3.1 record your testBag

record the rosbag with image and odom datas.

3.2 Configuration file

Write a config file for your rosbag.

3.3 Remind

You need to change the "wheel_callback" function for your odo input; You need to remind the coordinate directions relations between camera and odometer.the struct "scan_match_results" in "data_selection.cpp" ,"axis" in main_node.cpp , "M" matrix in solveQyx.cpp may need to be changed.

4. Calibration

    roslaunch cam_odo_cal S800.launch
    rosbag play xxx.bag

5. Authors

Dongfu ZHU, Research Intern at Megvii, will graduate from Huazhong University of Science and Technology with a bachelor degree in July 2020, contact with (dongfuzhu at hust dot edu dot cn).
Zheng CHAI, Researcher at Megvii-R-SLAM, if you have any question, please contact (icecc_sunny at 163 dot com)

6. References

Guo, C. X., Mirzaei, F. M., & Roumeliotis, S. I. (2012, May). An analytical least-squares solution to the odometer-camera extrinsic calibration problem. In 2012 IEEE International Conference on Robotics and Automation (pp. 3962-3968). IEEE.

Heng, L., Li, B., & Pollefeys, M. (2013, November). Camodocal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1793-1800). IEEE.

Censi, Andrea, Franchi, Antonio, Marchionni, Luca & Oriolo, Giuseppe (2013). Simultaneous calibration of odometry and sensor parameters for mobile robots. IEEE Transactions on Robotics, 29, 475-492.

xyz599/CamOdomCalibraTool