【源码】一维测距仪和单目相机的外部校准（5自由度）

单点测距仪（激光雷达高度计）和单目视觉系统的外部校准。

激光束在摄像机图像中不可见（使用900 nm激光和带红外滤光片的摄像机进行测试）。

假设激光击中带有棋盘图案的平面目标。参见示例。

需要N>5对图像和距离值。

返回的定向段（单位长度）表示测距仪的中心+摄像机光学框的方向。

Extrinsic calibration for single point rangefinder (LiDAR altimeter) and monocular vision systems.

The laser beam is supposed to be not visibile in the camera images (tested with 900 nm laser and camera with infrared filter).

The laser is supposed to hit a planar target with a checkerboard pattern attached. See examples.

Required are N>5 pairs of images and range values.

It is returned the oriented segment (of unit length) that represent the center of the range finder+ direction w.r.t the camera optical frame.

参考文献：

Giubilato, R. et al. “MiniVO: Minimalistic Range Enhanced Monocular System for Scale Correct Pose Estimation”, IEEE Sensors Journal, 2020

Giubilato, R. et al. “Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

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