首页 lidar_camera_calibration:根据强度

lidar_camera_calibration:根据强度

上传者： 42112685 | 上传时间： 2024-04-24 11:50:21 | 文件大小： 34.06MB | 文件类型： ZIP
lidar_camera_calib 仅供学习参考使用。 [TOC] 1.基本思想 提取图像上标定板的像素坐标,在对应的激光帧中提取标定板的3D角点位置,解决一个2D-3D算Rt的问题.图像上提取角点用 ,激光数据中提标定板参考,这个方法对标定板要求比较高,要求激光在标定板白色区域与黑色区域的反射强度区别明显.下面我用标定pointGrey相机与velodyne16线为例,说明实验流程. 2.数据采集 激光和图像之间的距离最好比较接近(经验,暂时不知道理论依据). 传感器静止,在不同地方采集多次数据,注意激光的每根线最好都用上,即最好每根线都射在标定板上,充分利用激光数据.下面是一个录制bag的例子,-l NUM参数表示 only record NUM messages on each topic. rosbag record /camera_topic /lidar_topic -l 3

文件下载

资源详情

[{"title":"（ 139 个子文件 34.06MB ） lidar_camera_calibration:根据强度","children":[{"title":"calib_lidar_cam.launch.autosave <span style='color:#111;'> 348B </span>","children":null,"spread":false},{"title":"2018-12-03-2.bag <span style='color:#111;'> 5.90MB </span>","children":null,"spread":false},{"title":"2018-12-03-3.bag <span style='color:#111;'> 5.89MB </span>","children":null,"spread":false},{"title":"2018-12-03-1.bag <span style='color:#111;'> 5.88MB </span>","children":null,"spread":false},{"title":"2018-12-03-5.bag <span style='color:#111;'> 5.87MB </span>","children":null,"spread":false},{"title":"2018-12-03-4.bag <span style='color:#111;'> 5.85MB </span>","children":null,"spread":false},{"title":"2018-12-03-6.bag <span style='color:#111;'> 5.83MB </span>","children":null,"spread":false},{"title":"pointgrey.bin <span style='color:#111;'> 128B </span>","children":null,"spread":false},{"title":"Chessboard.cc <span style='color:#111;'> 69.11KB </span>","children":null,"spread":false},{"title":"CostFunctionFactory.cc <span style='color:#111;'> 44.45KB </span>","children":null,"spread":false},{"title":"CataCamera.cc <span style='color:#111;'> 25.40KB </span>","children":null,"spread":false},{"title":"ScaramuzzaCamera.cc <span style='color:#111;'> 25.27KB </span>","children":null,"spread":false},{"title":"gpl.cc <span style='color:#111;'> 25.06KB </span>","children":null,"spread":false},{"title":"PinholeCamera.cc <span style='color:#111;'> 21.59KB </span>","children":null,"spread":false},{"title":"EquidistantCamera.cc <span style='color:#111;'> 19.97KB </span>","children":null,"spread":false},{"title":"CameraCalibration.cc <span style='color:#111;'> 16.16KB </span>","children":null,"spread":false},{"title":"intrinsic_calib.cc <span style='color:#111;'> 8.25KB </span>","children":null,"spread":false},{"title":"Camera.cc <span style='color:#111;'> 5.62KB </span>","children":null,"spread":false},{"title":"CameraFactory.cc <span style='color:#111;'> 4.34KB </span>","children":null,"spread":false},{"title":"EigenQuaternionParameterization.cc <span style='color:#111;'> 1.38KB </span>","children":null,"spread":false},{"title":"Transform.cc <span style='color:#111;'> 1.05KB </span>","children":null,"spread":false},{"title":"FindEigen.cmake <span style='color:#111;'> 7.70KB </span>","children":null,"spread":false},{"title":"LidarCornersEst.cpp <span style='color:#111;'> 17.82KB </span>","children":null,"spread":false},{"title":"ImageCornersEst.cpp <span style='color:#111;'> 14.51KB </span>","children":null,"spread":false},{"title":"test_calib_lidar_cam.cpp <span style='color:#111;'> 9.87KB </span>","children":null,"spread":false},{"title":"Optimization.cpp <span style='color:#111;'> 7.95KB </span>","children":null,"spread":false},{"title":"get_lidar_corners.cpp <span style='color:#111;'> 6.97KB </span>","children":null,"spread":false},{"title":"calib_lidar_cam.cpp <span style='color:#111;'> 6.75KB </span>","children":null,"spread":false},{"title":"lidar_chessboard_online.cpp <span style='color:#111;'> 5.58KB </span>","children":null,"spread":false},{"title":"pcd2image.cpp <span style='color:#111;'> 4.44KB </span>","children":null,"spread":false},{"title":"rgblidar.cpp <span style='color:#111;'> 4.14KB </span>","children":null,"spread":false},{"title":"get_image_corners_bag.cpp <span style='color:#111;'> 3.42KB </span>","children":null,"spread":false},{"title":"Visualization.cpp <span style='color:#111;'> 2.52KB </span>","children":null,"spread":false},{"title":"EigenUtils.h <span style='color:#111;'> 11.35KB </span>","children":null,"spread":false},{"title":"ScaramuzzaCamera.h <span style='color:#111;'> 10.16KB </span>","children":null,"spread":false},{"title":"Spline.h <span style='color:#111;'> 8.42KB </span>","children":null,"spread":false},{"title":"Optimization.h <span style='color:#111;'> 6.71KB </span>","children":null,"spread":false},{"title":"EquidistantCamera.h <span style='color:#111;'> 6.63KB </span>","children":null,"spread":false},{"title":"CataCamera.h <span style='color:#111;'> 6.41KB </span>","children":null,"spread":false},{"title":"PinholeCamera.h <span style='color:#111;'> 5.84KB </span>","children":null,"spread":false},{"title":"Camera.h <span style='color:#111;'> 4.94KB </span>","children":null,"spread":false},{"title":"CeresPnpError.h <span style='color:#111;'> 4.31KB </span>","children":null,"spread":false},{"title":"CostFunctionFactory.h <span style='color:#111;'> 3.36KB </span>","children":null,"spread":false},{"title":"Chessboard.h <span style='color:#111;'> 2.99KB </span>","children":null,"spread":false},{"title":"gpl.h <span style='color:#111;'> 2.36KB </span>","children":null,"spread":false},{"title":"LidarCornersEst.h <span style='color:#111;'> 2.35KB </span>","children":null,"spread":false},{"title":"CameraCalibration.h <span style='color:#111;'> 2.14KB </span>","children":null,"spread":false},{"title":"ImageCornersEst.h <span style='color:#111;'> 2.14KB </span>","children":null,"spread":false},{"title":"Visualization.h <span style='color:#111;'> 1.76KB </span>","children":null,"spread":false},{"title":"ChessboardCorner.h <span style='color:#111;'> 1.17KB </span>","children":null,"spread":false},{"title":"EigenQuaternionParameterization.h <span style='color:#111;'> 1.12KB </span>","children":null,"spread":false},{"title":"ChessboardQuad.h <span style='color:#111;'> 773B </span>","children":null,"spread":false},{"title":"Transform.h <span style='color:#111;'> 744B </span>","children":null,"spread":false},{"title":"CameraFactory.h <span style='color:#111;'> 658B </span>","children":null,"spread":false},{"title":"config.h <span style='color:#111;'> 158B </span>","children":null,"spread":false},{"title":"instruction <span style='color:#111;'> 68B </span>","children":null,"spread":false},{"title":"示意图.jpg <span style='color:#111;'> 1.02MB </span>","children":null,"spread":false},{"title":"0.jpg <span style='color:#111;'> 403.64KB </span>","children":null,"spread":false},{"title":"pointgrey2.jpg <span style='color:#111;'> 393.35KB </span>","children":null,"spread":false},{"title":"pointgrey6.jpg <span style='color:#111;'> 387.62KB </span>","children":null,"spread":false},{"title":"pointgrey4.jpg <span style='color:#111;'> 366.01KB </span>","children":null,"spread":false},{"title":"pointgrey1.jpg <span style='color:#111;'> 364.24KB </span>","children":null,"spread":false},{"title":"pointgrey1.jpg <span style='color:#111;'> 364.24KB </span>","children":null,"spread":false},{"title":"pointgrey5.jpg <span style='color:#111;'> 361.49KB </span>","children":null,"spread":false},{"title":"pointgrey3.jpg <span style='color:#111;'> 358.93KB </span>","children":null,"spread":false},{"title":"test_lidar_cam_calib.launch <span style='color:#111;'> 563B </span>","children":null,"spread":false},{"title":"lidar_chessboard_online.launch <span style='color:#111;'> 503B </span>","children":null,"spread":false},{"title":"image_corners.launch <span style='color:#111;'> 503B </span>","children":null,"spread":false},{"title":"lidar_corners.launch <span style='color:#111;'> 443B </span>","children":null,"spread":false},{"title":"pcd2image.launch <span style='color:#111;'> 438B </span>","children":null,"spread":false},{"title":"rgb_lidar.launch <span style='color:#111;'> 436B </span>","children":null,"spread":false},{"title":"calib_lidar_cam.launch <span style='color:#111;'> 350B </span>","children":null,"spread":false},{"title":"matchChessboards.m <span style='color:#111;'> 7.25KB </span>","children":null,"spread":false},{"title":"refineCorners.m <span style='color:#111;'> 5.33KB </span>","children":null,"spread":false},{"title":"findCorners.m <span style='color:#111;'> 4.13KB </span>","children":null,"spread":false},{"title":"observationsFromMatching.m <span style='color:#111;'> 3.38KB </span>","children":null,"spread":false},{"title":"growChessboard.m <span style='color:#111;'> 3.25KB </span>","children":null,"spread":false},{"title":"chessboardsFromCorners.m <span style='color:#111;'> 2.87KB </span>","children":null,"spread":false},{"title":"initChessboard.m <span style='color:#111;'> 2.79KB </span>","children":null,"spread":false},{"title":"plotChessboards.m <span style='color:#111;'> 2.68KB </span>","children":null,"spread":false},{"title":"plotChessboardMatching.m <span style='color:#111;'> 2.61KB </span>","children":null,"spread":false},{"title":"cornerCorrelationScore.m <span style='color:#111;'> 2.27KB </span>","children":null,"spread":false},{"title":"cornerStatistics.m <span style='color:#111;'> 2.08KB </span>","children":null,"spread":false},{"title":"createCorrelationPatch.m <span style='color:#111;'> 2.04KB </span>","children":null,"spread":false},{"title":"findModesMeanShift.m <span style='color:#111;'> 1.85KB </span>","children":null,"spread":false},{"title":"nonMaximumSuppression.m <span style='color:#111;'> 1.73KB </span>","children":null,"spread":false},{"title":"scoreCorners.m <span style='color:#111;'> 1.66KB </span>","children":null,"spread":false},{"title":"chessboardEnergy.m <span style='color:#111;'> 1.54KB </span>","children":null,"spread":false},{"title":"colorFromIndex.m <span style='color:#111;'> 1.49KB </span>","children":null,"spread":false},{"title":"demo_all_pic.m <span style='color:#111;'> 805B </span>","children":null,"spread":false},{"title":"demo.m <span style='color:#111;'> 385B </span>","children":null,"spread":false},{"title":"startMatching.m <span style='color:#111;'> 285B </span>","children":null,"spread":false},{"title":"README.md <span style='color:#111;'> 9.92KB </span>","children":null,"spread":false},{"title":"readme.md <span style='color:#111;'> 552B </span>","children":null,"spread":false},{"title":"pcd2image1.png <span style='color:#111;'> 1.20MB </span>","children":null,"spread":false},{"title":"5.png <span style='color:#111;'> 648.52KB </span>","children":null,"spread":false},{"title":"6.png <span style='color:#111;'> 603.26KB </span>","children":null,"spread":false},{"title":"bag7.png <span style='color:#111;'> 591.23KB </span>","children":null,"spread":false},{"title":"bag2.png <span style='color:#111;'> 587.03KB </span>","children":null,"spread":false},{"title":"bag6.png <span style='color:#111;'> 586.20KB </span>","children":null,"spread":false},{"title":"......","children":null,"spread":false},{"title":"<span style='color:steelblue;'>文件过多，未全部展示</span>","children":null,"spread":false}],"spread":true}]

评论信息

其他资源

免责申明

【只为小站】的资源来自网友分享，仅供学习研究，请务必在下载后24小时内给予删除，不得用于其他任何用途，否则后果自负。基于互联网的特殊性，【只为小站】 无法对用户传输的作品、信息、内容的权属或合法性、合规性、真实性、科学性、完整权、有效性等进行实质审查；无论 【只为小站】 经营者是否已进行审查，用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。
本站所有资源不代表本站的观点或立场，基于网友分享，根据中国法律《信息网络传播权保护条例》第二十二条之规定，若资源存在侵权或相关问题请联系本站客服人员，zhiweidada#qq.com，请把#换成@，本站将给予最大的支持与配合，做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明

个人信息

下载历史

相关资源标签

热门下载

最新下载