MARS相机雷达外参标定livox_camera_calib

安装ROS附加包

sudo apt-get install ros-noetic-cv-bridge ros-noetic-pcl-conversions

安装Eigen库

git clone https://github.com/eigenteam/eigen-git-mirror
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include 

因为eigen3 被默认安装到了usr/local/include里了（或者是usr/include里，这两个都差不多，都是系统默认的路径），在很多程序中include时经常使用#include <Eigen/Dense>而不是使用#include <eigen3/Eigen/Dense>所以要将Eigen提取到上一层目录，否则一些程序在编译时会因找不到Eigen/Dense而报错。

安装Eigen库

git clone -b 2.2.0 https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build 
cd build
cmake ..
make -j10
make test
make install 

执行make指令时可能报错：
No CMAKE_CUDA_COMPILER could be found.

sudo gedit ~/.bashrc
末尾添加：export PATH=/usr/local/cuda-10.8/bin/:$PATH
source ~/.bashrc

安装PCL库

sudo apt install libpcl-dev

安装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

执行catkin_make时可能会报错：
error: ‘LocalParameterization’ is not a member of ‘ceres’
修改lidar_camera_calib.cpp和lidar_camera_multi_calib.cpp

//ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionParameterization();
ceres::Manifold *q_parameterization = new ceres::EigenQuaternionManifold();

CMake Error at livox_camera_calib/CMakeLists.txt:45 (add_executable):
Target “lidar_camera_calib” links to target “CUDA::cublas” but the target
was not found. Perhaps a find_package() call is missing for an IMPORTED
target, or an ALIAS target is missing?
原因：Ceres库需要cmake版本大于等于3.17

wget https://cmake.org/files/v3.22/cmake-3.22.1.tar.gz
tar -xvzf cmake-3.22.1.tar.gz
chmod 777 ./configure
./configure
Make -j10
sudo make install
sudo update-alternatives --install /usr/bin/cmake cmake /usr/local/bin/cmake 1 --force

准备标定材料

1. 相机内参
2. 相机图像
3. 雷达点云

外参标定

cd catkin_ws
source devel/setup.bash
roslaunch livox_camera_calib calib.launch