本文介绍港大MARS实验室的雷达-相机标定工具livox_camera_calib, 对应论文Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments。该方法可以在无标定板的情况下对雷达和激光的外参进行标定,使用起来比较方便。该工具主要针对高分辨率雷达如livox avia,对于旋转式多线激光雷...
This branch is20 commits behindhku-mars/livox_camera_calib:master. README GPL-2.0 license livox_camera_calib livox_camera_calibis a robust, high accuracy extrinsic calibration tool between high resolution LiDAR (e.g. Livox) and camera in targetless environment. Our algorithm can run in both ind...
livox_camera_calib是无目标环境中高分辨率LiDAR(例如Livox)和相机之间的可靠,高精度的外部校准工具。 我们的算法可以在室内和室外场景中运行,并且仅需要场景中的边缘信息。 如果场景合适,我们可以达到类似于或什至超越基于目标的方法的像素级精度。 室外校准方案的示例。 我们使用校准的外部图像对点云进行着色,并与实际...
livox_camera_calib原理 1. 前期准备。 设备安装与同步。 将Livox激光雷达和相机按照一定的空间布局安装在同一载体上,确保相对位置固定。同时,需要实现激光雷达和相机的时间同步,这是因为后续匹配点云与图像数据时,时间上的一致性非常关键,只有在同一时刻获取的数据才能准确反映场景的真实情况。一般可以通过硬件同步(如...
Install MATLAB to calculate the extrinsic parameters, or use cameraCalib node. Parameters adjustment Make sure that the selected camera has a pinhole imaging model. At first, please adjust the basic parameters(including the focus and photo dimension, etc) of the camera itself. In this case we ...
Install MATLAB to calculate the extrinsic parameters, or use cameraCalib node. Parameters adjustment Make sure that the selected camera has a pinhole imaging model. At first, please adjust the basic parameters(including the focus and photo dimension, etc) of the camera itself. In this case we ...
2.3 cameraCalib calibration 2.4 Calibration result Step3: Preparations and data collections 3.1 Calibration scene preparation 3.2 Connect the LiDAR 3.3 Connect the camera 3.4 Collect the photo and LiDAR data Step4: Calibration data acquisition
按照2.2中的方法获得照片数据后,配置cameraCalib.launch中对应的路径和参数,默认是把照片数据放在data/camera/photos下,然后在data/camera/in.txt中写入所有需要使用的照片名称,如下图所示 输入指令开始标定 roslaunch camera_lidar_calibration cameraCalib.launch ...
livox_camera_calibis a robust, high accuracy extrinsic calibration tool between high resolution LiDAR (e.g. Livox) and camera in targetless environment. Our algorithm can run in both indoor and outdoor scenes, and only requires edge information in the scene. If the scene is suitable, we can...
Though I've attmpted to use inverted values (ie: values directly calculated from https://github.com/hku-mars/livox_camera_calib). And i've tried to use values which work great in r3live. Author Snowbound9173 commented Sep 22, 2023 I still don't actually have this working. Like xuan...