单线激光雷达与单目相机的联合标定
原项目参考https://github.com/TurtleZhong/camera_lidar_calibration,https://github.com/TurtleZhong/camera_lidar_calibration_v2
在其基础上扩展了广角镜头的应用,使用方法改为Rviz获取标记点在激光雷达坐标系下的坐标,利用https://github.com/whu-hk/usb_cam_opencv 打开摄像头,通过简单的鼠标点击并获取标记点在畸变校正后图像上的坐标,这样将点对一一记录到/data/data/.txt,即可开始calibrate(利用ceres构建最小二乘问题求取R,T)
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