livox_camera_calib

livox_camera_calib is a robust, high accuracy extrinsic calibration tool between high resolution LiDAR (e.g. Livox) and camera in targetless environment. Our algorithm can run in both indoor and outdoor scenes, and only requires edge information in the scene. If the scene is suitable, we can achieve pixel-level accuracy similar to or even beyond the target based method.

An example of a outdoor calibration scenario. We color the point cloud with the calibrated extrinsic and compare with actual image. A and C are locally enlarged views of the point cloud. B and D are parts of the camera image corresponding to point cloud in A and C.

Info

New features in next version:

Support spinning LiDAR
Support muti-scenes calibration (more accuracy)

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:

    sudo apt-get install ros-XXX-cv-bridge ros-xxx-pcl-conversions

1.2 Eigen

Follow Eigen Installation

1.3 Ceres Solver

Follow Ceres Installation.

1.4 PCL

Follow PCL Installation. (Our code is tested with PCL1.7)

2. Build

Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/hku-mars/livox_camera_calib.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

3. Run our example

Download Our recorded rosbag to your local path, and then change the path in calib.launch to your data path. Then directly run

roslaunch livox_camera_calib calib.launch

If you have trouble in downloading the rosbag files, you can download the same files from Baidu net-disk.

Link (链接): https://pan.baidu.com/s/197hsjmO42p5OIUjo_l4kkg 
Extraction code (提取码): myfm

4. Run on your own sensor set

4.1 Record data

Record the point cloud and image msg to rosbag (15s or more for avia LiDAR). Then change the topic name in config_outdoor.yaml file

# Topic name in rosbag
PointCloudTopic: "/livox/lidar"
ImageTopic: "/camera/color/image_raw"

4.2 Modify some params

Modify the camera matrix and distortion coeffs in camera.yaml
Modify the initial extrinsic in config_outdoor.yaml if needed.

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