源码阅读,能力有限,如有某处理解错误,请指出,谢谢。
run_lidar2imu.cpp:输入文件所在路径,开始标定。
#include <Eigen/Core>
#include <pcl/common/transforms.h>
#include <pcl/conversions.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include "calibration.hpp"
#include "extrinsic_param.hpp"
#include "registration.hpp"
#include <iostream>
#include "logging.hpp"
#include "transform_util.hpp"
using namespace std;
int main(int argc, char **argv) {
if (argc != 4) {
cout << "Usage: ./run_lidar2imu <lidar_pcds_dir> <poses_path> "
"<extrinsic_json> "
"\nexample:\n\t"
"./bin/run_lidar2imu data/top_center_lidar/ "
"data/NovAtel-pose-lidar-time.txt "
"data/gnss-to-top_center_lidar-extrinsic.json "
<< endl;
return 0;
}
string lidar_pcds_dir = argv[1];
string poses_path = argv[2];
string extrinsic_json = argv[3];
string stitching_path = "stitching.pcd";
// load extrinsic
Eigen::Matrix4d json_param;
LoadExtrinsic(extrinsic_json, json_param);
LOGI("Load extrinsic!");
// convert to lidar 2 imu
Eigen::Matrix4d lidar2imu_extrinsic = json_param.inverse().eval();
std::cout << json_param << std::endl;
Eigen::Matrix4d transform = Eigen::Matrix4d::Identity();
// Registrator registrator;
// registrator.LoadOdometerData(poses_path, lidar2imu);
// registrator.LoadLidarPCDs(lidar_pcds_dir);
// registrator.RegistrationByGroundPlane(transform);
// registrator.RegistrationByVoxelOccupancy(transform);
// registrator.SaveStitching(stitching_path);
// std::cout << "the calibration result is " << std::endl;
// std::cout << transform << std::endl;
Calibrator calibrator;
calibrator.Calibration(lidar_pcds_dir, poses_path, lidar2imu_extrinsic);
return 0;
}
lidar与imu之间的外参标定是非常重要的,也是一个基础的东西,只有知道了传感器之间的相对位姿,然后才能更好的完成数据间的融合。
Lidar_imu自动标定源码阅读完结。