LiDAR Camera Calibration Using Dynamic Reconfigure With 3D -> 2D Projection
CMake 21.12%Python 78.49%Shell 0.39%
lidar-camera-calibration's Introduction
Online LIDAR-Camera Extrinsic Calibration
Terminal 1
roscore
Terminal 2
Open calib_l2c.launch and enter K (flattened camera matrix array) obtained via intrinsic calibration
DO NOT USE camera_matrix from ost.yaml file as K since it doesn't include distortion parameters and hence running projection in next step on rect (instead of raw) image will not be correct
roslaunch calib_lidar_cam calib_l2c.launch
Terminal 3
Open calib_l2c_projection.launch and enter correct lidar topic, lidar frame_id, and compressed camera topic
Enter the name of the file for the LIDAR to CAMERA C_T_L transformation matrix and the projection matrix C_proj_L that you would like to save - saves a numpy file