LiDAR-Camera-calib

This work is an extended version of livox_camera_calib, which is suitable for spinning LiDAR。

In order to apply this algorithm on spinning LIDAR(e.g:VLP16)， I add the preprocess process(FLOAM) to make the point cloud of the spinning LiDAR denser.

Data Prepare

When you calibrate the spinning lidar and camera, record the data by holding the device(lidar and camera) stationary for a period of time and then slowly and repeatedly move the entire device in this direction to accumulate the point cloud.

Start with Docker

When you use Docker, you could solve the dependency at once.
Check /docker folder, and make your own Docker image.

Move the terminal path to /docker and execute the following command.

docker build -t lidar-camera-calib:1.0 .

After making a image, create the docker container.

First, you should enter the command below in the local terminal to enable docker to communicate with Xserver on the host.

xhost +local:docker

After that, make your own container with the command below.

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume=${this_repo_root}:/home/catkin_ws/src \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --shm-size=1gb \
           --name=${docker container name} \
           --env="DISPLAY=$DISPLAY" \
           ${docker image} /bin/bash

⚠️ You should change {this_repo_root}, {docker container name}, {docker image} to suit your environment.

For example,

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume=/home/taeyoung/Desktop/LiDAR-Camera-calib:/home/catkin_ws/src \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --shm-size=1gb \
           --name=lidar_camera_calib \
           --env="DISPLAY=$DISPLAY" \
           lidar-camera-calib:1.0 /bin/bash

If you have successfully created the docker container, the terminal output will be similar to the below.

================LiDAR Camera Calib Docker Env Ready================
root@taeyoung-cilab:/home/catkin_ws#

Build

source /opt/ros/melodic/setup.bash
catkin_make
source /devel/setup.bash

Run

step1: doing slam to accumulate dense pointcloud.

roslaunch floam floam_XXX.launch

step2: lidar camera calibration

roslaunch livox_camera_calib calib_XXX.launch

Acknowledgements

Thanks for livox_camera_calib and FLOAM.