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标定工具集合安装

购买pixkit的用户，已帮您完成此步骤，请直接开始camera内参标定

概要

  • ros2采集功能包
  • ros2标定功能包
  • 标定可执行文件

前提条件

  • ubuntu22.04
  • Linux kernel == 5.19.0-40-generic
  • ROS2：Humble
  • autoware

安装部署

step-1: clone代码仓库

git clone -b ros2-calibration-tools https://github.com/pixmoving-moveit/sensor_calibration_tool.git
cd sensor_calibration_tool
mkdir sensors_calibration_tool
vcs import sensors_calibration_tool < sensors_calibration_tool.repos --recursive

step-2: 安装依赖

  • 安装依赖[apt install] 
# 相机内参标定工具
sudo apt install ros-$ROS_DISTRO-camera-calibration-parsers
sudo apt install ros-$ROS_DISTRO-camera-info-manager
sudo apt install ros-$ROS_DISTRO-launch-testing-ament-cmake

# imu内参标定
sudo apt-get install libdw-dev 

# Ceres
sudo apt-get install libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev

sudo apt-get install libgoogle-glog-dev
sudo apt-get install libpcl-dev pcl-tools

step-3: 开始编译

标定名称 标定程序 程序地址
lidar2camera 激光雷达到相机标定可执行程序 /sensors_calibration_tool/SensorsCalibration/lidar2camera/manual_calib/
lidar2imu 激光雷达到IMU标定可执行程序 sensors_calibration_tool/SensorsCalibration/lidar2imu/manual_calib/
calibration_ws 相机内参和lidar2lidar标定可执行程序 sensors_calibration_tool/calibration_ws/

编译命令

./cali_build.sh [参数]
# 以下为脚本参数
# hlep 帮助文档
# calibration_ws
#      - 标定数据采集工具包
#      - imu内参标定功能包
#      - camera内参标定功能包
#      - lidar2lidar内参标定功能包
# lidar2camera
# lidar2imu

lidar2camera编译

./cali_build.shlidar2camera

lidar2imu编译

./cali_build.shlidar2imu

calibration_ws编译

./cali_build.shcalibration_ws

成功标志：编译过程中没有任何爆红，即是成功标志 ros2package_calibration_ws

step-4：成功标志

验证激光雷达到相机和激光雷达到IMU标定程序是否编译成功

# 执行指令，如下图输出
cd ./sensors_calibration_tool/SensorsCalibration/lidar2camera/manual_calib/
./bin/run_lidar2camera data/0.png data/0.pcd data/center_camera-intrinsic.json data/top_center_lidar-to-center_camera-extrinsic.json
cd -

NEXT

现在，您已经完成标定工具安装，接下来可以开始: