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cam2lidar package from cam2lidar repo

cam2lidar

Package Summary

Tags No category tags.
Version 1.0.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/up2metric/cam2lidar.git
VCS Type git
VCS Version main
Last Updated 2022-08-11
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The cam2lidar package

Additional Links

Maintainers

  • Anastasis Papanagnou

Authors

No additional authors.

Lidar - Camera Calibration

Wiki

You can visit the ros wiki with more information regarding the calibration package.

An Effective Camera-to-Lidar Spatiotemporal Calibration Based on a Simple Calibration Target [pdf]

cam2lidar

cam2lidar tutorial

Run through Docker

  1. Clone the repository.
  2. Execute (inside the folder):
docker build .

  1. Run the image (with X11 support):
docker run --gpus all -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v <repository location>:/cam2lidar <image number>

Inside the container:

cd /root/catkin_ws
ln -sf /cam2lidar/ src/
catkin_make
source devel/setup.bash 

Notes: To enable the GUI do not forget to run this on a local terminal.

xhost +

Also, use this docker run command to share the same roscore between the docker container and the host.

docker run --gpus all -it --privileged --net=host -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v <repository location>:/cam2lidar <image number>

Prepare data for calibration

There are two topics that are necessary for the calibration process. One for video and one for Lidar. In addition, you will need the intrinsic parameters of the camera. Then set the input topics at the launch file that you will execute.

Geometric calibration

Run the bagfile (or publish the necessary topics), execute:

roslaunch cam2lidar geometric.launch

and set the following parameters in the config folder.

# Geometric calibration
reproj_error: 8
intensity_thres: 200
distance_from_prev: 100
horizontal_dimension: 3840
vertical_dimension: 2160
grid_horizontal_division: 5
grid_vertical_division: 5

reproj_error: Reprojection error of PnP

intensity_thres: Lidar intensity threshold that is considered to be coming from the reflective tape

distance_from_prev: Distance (in px) from previous apriltag in order for the movement to be considered as static

horizontal_dimension/vertical_dimension: Dimensions of the image

grid_horizontal_division/grid_vertical_division: Shape of grid, in order to have one measurement per rectangle

Temporal calibration

Run the bagfile (or publish the necessary topics), execute:

roslaunch cam2lidar temporal.launch

and set the parameters as mentioned in the Geometric calibration section.

Citations

DOI

The following is a BibTeX entry for the Cam2lidar paper that you should cite if you use this model.

@article{grammatikopoulos2022effective,
  title={An Effective Camera-to-Lidar Spatiotemporal Calibration Based on a Simple Calibration Target},
  author={Grammatikopoulos, Lazaros and Papanagnou, Anastasios and Venianakis, Antonios and Kalisperakis, Ilias and Stentoumis, Christos},
  journal={Sensors},
  volume={22},
  number={15},
  pages={5576},
  year={2022},
  publisher={Multidisciplinary Digital Publishing Institute}
}

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cam2lidar at answers.ros.org

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