Introduction

This is a project for online calibration,includeing lidar2imu, camera2imu and radar2carcenter calibration.

Prerequisites

• Cmake
• opencv2.4
• eigen 3
• PCL 1.9
• Pangolin

Compile

Compile in their respective folders

# mkdir build
mkdir -p build && cd build
#build
cmake .. && make

Camera2imu calibration tool

Five input files:

 Usage: ./main yaml_car_config_path raw_imu_file video_file video_timestamp_file output_path 

• yaml_car_config_path: groundtruth for camera2imu extrinsic.
• raw_imu_fie: imu file
• video_file: vide file
• video_timestamp_file: timestamp
• output_path: result save path

Lidar2imu calibration tool

Four input files:

Usage: ./main lidar_dir novatel_pose_path config_path output_dir
 start_second[default=10s] max_seconds[default=60s]

• lidar_dir: lidar pcd files dir
• novatel_pose_path: pose read from novatel
• config_path: the calibration config file
• output_dir: result save path

Radar2carcenter calibration tool

Four input files:

Usage: ./main radar_type radar_dir_path inspva_file output_dir 

• radar_type: the radar type
• radar_dir_path: radar files
• inspva_file: read car pose
• output_dir: result save path