# JointCalib

**Repository Path**: monage2018/JointCalib

## Basic Information

- **Project Name**: JointCalib
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-12-25
- **Last Updated**: 2023-12-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Joint Camera Intrinsic and LiDAR-Camera Extrinsic Calibration. 
This is a project for LiDAR to camera joint calibration<a href="https://arxiv.org/abs/2202.13708" title="paper">[paper]</a>. For more calibration codes, please refer to the link <a href="https://github.com/PJLab-ADG/SensorsCalibration" title="SensorsCalibration">SensorsCalibration</a>


## Prerequisites

- Cmake
- Opencv 2.4.13
- PCL 1.9

## Compile
Compile in their respective folders

```shell
# mkdir build
mkdir -p build && cd build
# build
cmake .. && make
```


## Usage

1. Two Input files: 

   `./lidar2camera camera_dir csv_file`

- **camera_dir**: Collected camera calibration board data
- **csv_file**: The circles center points corresponding to the images

**Note:** To extract the circles center form PCD files, please refer to [README.md](tool/README.md).

2. Run the test sample:

   The executable file is under the bin folder.

   ```
   cd ~./lidar2camera/joint_calib
   ./bin/lidar2camera data/intrinsic/ data/circle.csv
   ```

3. Calibration result:

   <img src="./result/refine0.png" width="100%" height="100%" alt="Calibration result" div align=center />
   <img src="./result/refine1.png" width="100%" height="100%" alt="Calibration result" div align=center />
   <img src="./result/refine4.png" width="100%" height="100%" alt="Calibration result" div align=center />
   <img src="./result/refine8.png" width="100%" height="100%" alt="Calibration result" div align=center />

### Reference
The code is developed based on [camera calibration cpp](https://github.com/enazoe/camera_calibration_cpp)