direct_visual_lidar_calibration标定流程

预处理

ros1

 rosrun direct_visual_lidar_calibration preprocess -av \
  --camera_model plumb_bob \
  --camera_intrinsic 1452.711762456289,1455.877531619469,1265.25895179213,1045.818593664107 \
  --camera_distortion_coeffs -0.04203564850455424,0.0873170980751213,0.002386381727224478,0.005629700706305988,-0.04251149335870252 \
  /home/zf/livox_ros1 /home/zf/pre

 注意: 放rosbag包的地方和生成中间文件的地方不要在一个地方；否则会报:

terminate called after throwing an instance of 'rosbag::BagIOException' what(): Error reading version line

匹配和初始估计

自动

rosrun direct_visual_lidar_calibration find_matches_superglue.py /home/zf/anqin1/result/ --rotate_camera 0

手动

rosrun direct_visual_lidar_calibration initial_guess_manual /home/zf/pre

精配准

rosrun direct_visual_lidar_calibration calibrate /home/zf/pre