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Joint Camera Intrinsic and LiDAR-Camera Extrinsic Calibration.

This is a project for LiDAR to camera joint calibration<a href="https://arxiv.org/abs/2202.13708" title="paper">[paper]</a>. For more calibration codes, please refer to the link <a href="https://github.com/PJLab-ADG/SensorsCalibration" title="SensorsCalibration">SensorsCalibration</a>

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

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.

Run the test sample:

The executable file is under the bin folder.

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

Calibration result:
<img src="./result/refine0.png" width="100%" height="100%" alt="Calibration result" div align=center /> <img src="./result/refine1.png" width="100%" height="100%" alt="Calibration result" div align=center /> <img src="./result/refine4.png" width="100%" height="100%" alt="Calibration result" div align=center /> <img src="./result/refine8.png" width="100%" height="100%" alt="Calibration result" div align=center />

Reference

The code is developed based on camera calibration cpp