calibration_camera_lidar

从autoware分离出来的相机雷达联合标定ros包 https://github.com/XidianLemon/calibration_camera_lidar

install nlopt

git clone https://github.com/stevengj/nlopt.git cd nlopt mkdir build cd build cmake .. make sudo make install

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start roscore

roscore

play rosbag

rosbag play bagname.bag /rslidar_points:=points_raw -l

start calibtation tool

source devel/setup.bash rosrun calibration_camera_lidar calibration_toolkit

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data collection

1.LiDAR ./start.sh 2.image ./run2.sh

undistort image

1.cd catkin_ws_undistort devel/lib/undistort/undistort

2.rosbag record usb_cam2/image_raw rslidar_points

3.rosbag play bagname.bag -r 0.1