Targetbased Lidar Camera Calibration (Beta)

You can download the trial beta version through below link

https://forms.gle/uoGXzdpoPzW3vpNi9

All the Technical information about the calibration can be found here

There are two windows that open when you start the application. The RVIZ window and the input window. The Rviz window shows the images and the pcd and it is also used to select points for initial estimates. The input window is to input data and control the visualization in the RVIZ.

Data Input

In the setup tab you have to add the corresponding frames of Camera and Lidar. It can be done by selecting frames if already collected. If your system has a topic that is streaming the images and point and cloud you can get the frames from it by adding the topics and clicking on connect Sensors. This will stream the images and the PCD in the RVIZ window. when you want to capture the frame click on capture frame .

Camera Intrinsics and Target Configuration can be input manually or using json .

You can also input everything using a single json file by clicking on Load from json at the bottom

After populating the frames , camera intrinscs and the target configuration click on Test Target Detection. to do the target detection on all the targets and frames. This can be used to check that images are good and the target configuration is not wrong. Also this is required if you want to generate initial estimates.

Calibration tab

In the calibration tab you can set the metadata for calibration like the max correspondance , deep optimization , optimization approach and lidar inverted. For Initial estimates you can input it manual or do the calculation by selecting 4 points in the pcd.

For Generating initial estimates tick the Generate Initial Estimates using Rviz points. Select the mapping and the target you want to select. In the Rviz windows click on publish points and select 4 points in the displayed pcd and click on calculate Initial Estimates.

Once Initial estimates are populated you can click on start calibration to do the calibration.