Skip to content

Latest commit

 

History

History
38 lines (37 loc) · 1.15 KB

README.md

File metadata and controls

38 lines (37 loc) · 1.15 KB
Raw

Introduction

A project for LiDAR to car calibration. It calibrates the three rotation angles and the height of lidar to the ground.

Environment

docker pull xiaokyan/opencalib:v1

if remote visualization is not set up, uncomment this sentence in file "src/LidarYawCalib.cpp" to make matplotlib run in the background.

plt::backend("Agg");

Compile

# mkdir build
mkdir -p build && cd build
# build
cmake .. && make

Data

We uploaded a small amount of data for testing.

Link(链接): https://pan.baidu.com/s/1r9DcEuvz7IZ_rGpYo_WBBw
Extraction code(提取码): 5m2x

Run example

./bin/run_lidar2car ./data/example/ ./output/

Input

  • <dataset_folder>: contain lidar files
  • <output_dir>: save output file

Output

  • calib_result.txt: calibration result
  • pose.txt: lidar pose result
  • trajectory.png: lidar trajectory
  • compared_yaw.png: comparison between lidar pose yaw and trajectory yaw, which can be used to verify the result roughly

Note

It is recommended that the vehicle drives in a straight line for better yaw angle estimation and drives on flatter ground to get better pitch and roll estimation.