相机与激光雷达联合标定

参考博客

https://adamshan.blog.csdn.net/article/details/105736726

编译

mkdir -r cam_lidar_calibration_ws/src
cd  cam_lidar_calibration_ws/src
git clone git@github.com:jjw-DL/camera_lidar_calibration.git
cd ..
catkin_make

运行

roslaunch velodyne_pointcloud VLP-32C_points.launch
roslaunch cam_lidar_calibration cam_lidar_calibration.launch 
rosbag play camera_lidar.bag
加载rviz：
     rviz/cam_lidar_calibration.rviz
完成标定后，将lidar投射到camera上：
    rosbag play camera_lidar.bag
    roslaunch cam_lidar_calibration  project_img.launch 

数据集

链接：https://pan.baidu.com/s/1hmxkY0scBc-qEC4A208PbA 提取码：fj19