realsense D435l+mid360标定

目录

一、安装realsense环境

二、获取realsense D450L相机内参

三、标定雷达和相机

1.下载livox_camera_calib

2.修改配置参数

3.使用fastlio生成点云

4.标定

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一、安装realsense环境

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
//更新依赖库
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
//安装所需的依赖
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
//编译
cd librealsense
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
//测试是否安装成功
realsense-viewer

安装环境过程中如果出现以下报错，采用以下方法。error: ‘LocalParameterization’ is not a member of ‘ceres-CSDN博客

ceres::LocalParameterization *quatParam = new ceres::EigenQuaternionParameterization();

替换为

ceres::Manifold  *quatParam = new ceres::EigenQuaternionManifold();

二、获取realsense D450L相机内参

sudo apt install ros-noetic-camera-calibration
roslaunch realsense2_camera rs_camera.launch

内参结果

distortion_model: "plumb_bob" D: [0.0, 0.0, 0.0, 0.0, 0.0] K: [613.80517578125, 0.0, 321.6905212402344, 0.0, 614.0089111328125, 244.05947875976562, 0.0, 0.0, 1.0] R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] P: [613.80517578125, 0.0, 321.6905212402344, 0.0, 0.0, 614.0089111328125, 244.05947875976562, 0.0, 0.0, 0.0, 1.0, 0.0] binning_x: 0 binning_y: 0 roi:   x_offset: 0   y_offset: 0   height: 0   width: 0   do_rectify: False --- header:   seq: 597   stamp:     secs: 1720576168     nsecs: 845483780   frame_id: "camera_color_optical_frame" height: 480 width: 640

三、标定雷达和相机

1.下载livox_camera_calib

cd ~/catkin_ws/src
git clone https://github.com/hku-mars/livox_camera_calib.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

2.修改配置参数

         image_file中存放相机拍摄的图片，pcl_file中存放雷达的点云数据（雷达点云数据采用fastlio算法生成），result_file中存放点云和图片配准的内外参数结果。将上一步生成的相机内参放入camera中。修改calib中的outdoor的yaml文档。

3.使用fastlio生成点云

    cd ~/$A_ROS_DIR$/src
    git clone https://github.com/hku-mars/FAST_LIO.git
    cd FAST_LIO
    git submodule update --init
    cd ../..
    catkin_make
    source devel/setup.bash
//建图 For Avia mid360需要修改相关节点

    cd ~/$FAST_LIO_ROS_DIR$
    source devel/setup.bash
    roslaunch fast_lio mapping_avia.launch
    roslaunch livox_ros_driver livox_lidar_msg.launch

4.标定

roslaunch livox_camera_calib calib.launch