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KITTI-CARLA calibration

This sourced code is for eliminating the motion distortion of LiDAR point cloud of KITTI-CARLA dataset.

Guide

  1. Installation dependency

GCC >= 5.4.0

Cmake >= 3.0.2

Eigen3 >= 3.2.8

PCL == 1.7 for Ubuntu 16.04, and == 1.8 for Ubuntu 18.04

OpenCV == 2.4.9 for Ubuntu 16.04

  1. Clone and build this repository
git clone https://github.com/ZikangYuan/kitti_carla_calib.git
cd kitti_calra_calib
mkdir include
mkdir lib
mkdir build
cd build
cmake ..
make
  1. Adjust directory structure

Please make sure that the directory format of each sequence of KITTI-CARLA is as follow:

Seuqnce  
└──────generated  
       ├────────full_poses_lidar.txt  
       ├────────full_ts_camera.txt        
       └────────frames       
                 ├────frame_0000.ply                 
                 ├────frame_0001.ply                
                 ├────......                 
                 └────frame_4999.ply

Please make sure that the directpry format of ouput result of each sequence is as follow:

Output  
├─────groundtruth.txt  
└─────correct

where "correct" is the directpry for saving calibrated LiDAR sweeps, and "groundtruth.txt" is the groundtruth pose which corresponds one to one with the calibrated LiDAR sweeps.

  1. Run
./bin/motion_calib PTAH_OF_SEQUENCE_DIRECTORY PATH_OF_OUTPUT_DIRECTORY