LiDAR2LiDAR

For more calibration codes, please refer to the link SensorsCalibration

Pipline

Network

Installation

# Install packages and other dependencies
pip install -r requirements.txt
python setup.py build develop

3DMatch

python test.py --snapshot=../../output/geotransformer.3dmatch.stage4.gse.k3.max.oacl.stage2.sinkhorn/snapshots/snapshot.pth.tar --benchmark=3DMatch
python eval.py --benchmark=3DMatch --method=svd/--method=ransac

Kitti

python test.py --snapshot=../../output/geotransformer.Kitti.stage4.gse.k3.max.oacl.stage2.sinkhorn/snapshots/snapshot.pth.tar 
python eval.py --method=svd/--method=ransac

road_scene

python test.py --snapshot=../../output/geotransformer.CROON.stage4.gse.k3.max.oacl.stage2.sinkhorn/snapshots/snapshot.pth.tar 
python eval.py --method=svd/--method=ransac

octree optimize

Prerequisites

• Cmake
• Opencv 2.4.13
• PCL 1.9

Compile

Compile in their respective folders

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

Dataset

Because the dataset is relatively large, only test samples are uploaded, the complete data can be download from the link below.

Link(链接): https://pan.baidu.com/s/1EhiNVWAD1t96h0to7GTlIA
Extration code(提取码): ctuk

Usage

1. Two input files:

   point_cloud_path initial_extrinsic

• point_cloud_path: paths of Lidar point clouds
• initial_extrinsic: initial extrinsic parameters

2. Run the test sample:

   The executable file is under the bin folder.

   ./bin/run_lidar2lidar data/0001/lidar_cloud_path.txt data/0001/initial_extrinsic.txt