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This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.
structure from motion (SfM) is the process of estimating the 3D structure of a scene from a set of 2D images. here I estimate the poses of a calibrated camera from two images, reconstruct the 3D structure of the scene up to an unknown scale factor, and then recover the actual scale factor by detecting an object of a known