The software is an HD vector map based LiDAR-camera calibration tool, which could be used to calibrate non-overlapping LiDAR-camera pairs with little manually labeled correspondences, and inspect the quality of calibration results.
The important features of the calibration tool:
- LiDAR-camera calibration and inspection with HD vector map as the calibration field
- Recommend optimal selections of line-line 3d-2d correspondences and quick labeling
- Navigate between images with vector map reprojections and correspondences in a sequence
To run the software, you could
- Clone the repository to your workspace
- Install the dependencies
- System dependencies
- Qt5
- OpenCV > 3.4.0
- Python dependencies
- Python >= 3.6
$ pip3 install -r requirements.txt
- C++ Optimizer dependencies
- Eigen3
- Ceres
- Boost
- jsoncpp
- gflags
- glog
- System dependencies
- Compile the C++ Optimizer
cd ./calibration_tool/external/calibrate_lidar_camera_source/ mkdir build cd build cmake .. make cp calibrate_lidar_camera ../../
You could start the software by
cd ./calibration_tool
python3 main.py \
--keyframes_dir ../test_data/sequence/keyframes \
--vector_map_file_path ../test_data/sequence/map/map.json
Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
Please make sure to update tests as appropriate.