xmba15 / lidar_camera_calibration_point_to_plane

Extrinsic Calibration of Monocular Camera and Lidar using Planar Point To Plane Constraint

📝 lidar camera calibration

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🎉 TODO

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• extrinsic calibration between a monocular camera and a 3D Lidar by using planar point to plane constraint
• test the algorithm on real dataset. This is the public dataset from the following repository of SubMishMar

🎛 Dependencies

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conda env create --file environment.yml
conda activate lidar_camera_calibration

🏃 How to Run

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• Download dataset from HERE and extract into ./data repository

tar -xf ./data/dataset.tar.xz -C ./data/

• Run calibration app after building the required environment

python scripts/calibration_app.py --dataset_info_json ./data/dataset/dataset_info.json \
                                  --image_list_path ./data/dataset/image_list.txt \
                                  --cloud_list_path ./data/dataset/cloud_list.txt \
                                  --data_path ./data/dataset/data/

you can check the result of lidar point projection on images at /tmp/projected_image_*.jpg

Disclaimer: the result does not look so great on this test, but I hope this repository can still be a template for a standard camera-lidar calibration project

💎 References

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• Extrinsic Calibration of a 3D Laser Scanner and an Omnidirectional Camera, by Pandey et al.
• Extrinsic Calibration of a Camera and 2d Laser by MegviiRobot