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pixmoving-moveit/manual_lidar_camera_calibration

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ARCHITECTURE

architecture

HOW TO USE

load pcd file and show Rviz in new terminal

ros2 launch manual_lidar_camera_calibration pointcloud_loader.launch.xml

load image file and show opencv window in new terminal

ros2 launch manual_lidar_camera_calibration camera_points_publisher.launch.xml

launch extrinsic calibrator in new terminal

ros2 launch manual_lidar_camera_calibration extrinsic_calibrator.launch.xml

click camera points in opencv window

camera_points_publisher

use Publish Points tool to click point from pointcloud in Rviz

pointcloud_loader

visualize the calibration result in Rviz

calibration_result

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calibrate the extrinsics of LiDAR and mono camera manually

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