A4LidarTag

A close-range target-based calibration framework for solid-state lidar (SSL) and camera

Environment

conda install --file conda_pkgs.txt

Marker Generation

M1 : pdf

M2 : generation (optional)

Calibration

Data preparation

rgb images: *.jpg

point cloud : *.npy

demo data is shown in ./data

unzip it to ./data, finally file tree:

data
	--data_livox
	--data-l515
	--data_livox_verify
	--data_l515_verify

How to use

python tools/calibrate_camera_{device}.py  # device: e.g. Livox, L515
Options:
  --calib-config                           # path of calibration config
  --mono-calib                             # path of monocular images
  --pattern-dic                            # path of marker dictionary
  --out-f                                  # path of calibration result to save
  --verify-dir                             # path of check images

Visualization

# reproject
python tools/reproject.py
Options:
  --device                                 # reproject device type
  --img_dir                                # path of monocular images
  --pc_dir                                 # path of point cloud
  --rectified_img_dir                      # path of rectified image dir
  --reproject                              # path of reproject result

Livox

L515

# render
python tools/rectify.py
Options:
  --device                                 # reproject device type
  --img_dir                                # path of monocular images
  --pc_dir                                 # path of point cloud
  --rectified_img_dir                      # path of rectified image dir
  --rectified_pc                           # path of rectified result

Livox

L515