Autoware_Calibration_Camera_Lidar

This is the calibration toolkit seperated from Autoware.

Environment

Ubuntu 18.04 and Ros-melodic

Installation

1. Install the nlopt: https://github.com/stevengj/nlopt
2. Compile the file:

   git clone [email protected]:jianghaijun007/Autoware_Calibration_Camera_Lidar.git
   cd Autoware_Calibration_Camera_Lidar
   mkdir build
   mkdir devel
   catkin_make
   

Getting Started

1. roscore in another terminal.

2. Play the rosbag. if your recorded PointCloud2 topic is not /points_raw, you need to transfer it into /points_raw using the command below". Once the rosbag is playing, quickly pause it using the space button.

   rosbag play bagName.bag /YourPointCloud2Topic:=/points_raw
   

3. Open the toolkit

   source devel/setup.bash
   rosrun calibration_camera_lidar calibration_toolkit
   

4. Keep playing the rosbag until the chessboard is in a good position, then pause it again.

Tutorial of Calibration

https://www.youtube.com/watch?v=pfBmfgHf6zg

The CalibrationToolkit_Manual.pdf is uploaded which also include the calibration process in this toolkit.

Remember to stay in Mode 1 after pressing the grab button, if you cannot extract the plane of the board, press "↑ ↓ ← →" to adjust the postion.

Reference

https://github.com/JunzWu/Autoware_Calibration_Camera_Lidar