radlocc_calibrate

A package for easy calibration of lasers and cameras. It just saves the data in a format that RADLOCC can understand.

Dataset Format

The dataset created by this packages follows the convention:

• Laserscan data is saved on the file laser.txt. This is just an text file which saves the laserscan data in the format <timestamp> StartAngleRads AngleIncrementRads EndAngleRads RangeUnitType NoAngles [Ranges].
• Image data is both stored as image files named image_XXX.png and a text file image_stamps.txt with the timestamps of the images.

Example dataset

An example dataset produced by this package can be found here

Use

To use this package use the node radlocc_collect to save the calibration data, as follows:

rosrun radlocc_calibration radlocc_collect \
    laserscan:=/laserscan \
    image:=/camera/image_raw \
    _output_dir:=~/radlocc_data_001

This node is interactive, so a user input (enter) is required to save each image/laserscan. When finished, write q and enter to exit.

Nodes

radlocc_collect

Subscibed topic

• image (sensor_msgs/Image): the image topic of the camera to be calibrated
• laserscan (sensor_msgs/Laserscan): the laserscan topic of the laser to be calibrated

Parameters

• output_dir: the path to save the dataset.