Joint Camera Intrinsic and LiDAR-Camera Extrinsic Calibration.

This is a project for LiDAR to camera joint calibration[paper]. For more calibration codes, please refer to the link SensorsCalibration

Prerequisites

• Cmake
• Opencv 2.4.13
• PCL 1.9

Compile

Compile in their respective folders

# mkdir build
mkdir -p build && cd build
# build
cmake .. && make

Usage

1. Two Input files:

   ./lidar2camera camera_dir csv_file

• camera_dir: Collected camera calibration board data
• csv_file: The circles center points corresponding to the images

Note: To extract the circles center form PCD files, please refer to README.md.

2. Run the test sample:

   The executable file is under the bin folder.

   cd ~./lidar2camera/joint_calib
   ./bin/lidar2camera data/intrinsic/ data/circle.csv
   

3. Calibration result:

   

Reference

The code is developed based on camera calibration cpp