anlif / mi-extrinsic-calib Goto Github PK

I am attempting to calibrate the extrinsic parameters of my VLP-16 3D lidar w.r.t. a monocular(e.g. Pointgrey), and this method of your laboratory may be of great help to me.
But there are some questions puzzled me when I read your "README" and config files in your
code folders, so I open this question to consult you and looking foreword to your reply:
1) Whether it means that I need to save 3D point cloud received by Lidar in a .txt format before
hand? And the same operation with .ppm format is needed for the images?
2) Do I have to use a "mask" since I am using a PointGrey monocular camera and I don't have a
mask?
3) Which principle should I observe when collect both image and lidar information? Need each
sensor run in a specific frame rate? Do I need to let the FOV of camera and lidar as coincide as
possible? Or any other rules?

Thanks for your reading an I need your help, any advise would be appreciated, thanks!

I tried to run the code but i was not able to find the data folder could you please provide.
What is the mask you have used in the available code ?
Thanks in advance .