lidar-appearance-calibration-master.zip

## Overview This a ros package for multi lidar calibration by improving Qinghai's previous appearance-based work. Several method are to be implemented: ## Dependency List - PCL 1.8 ([http://pointclouds.org/](http://pointclouds.org/)) - Eigen 3 - Boost - libpointmatcher ([https://github.com/ethz-asl/libpointmatcher](https://github.com/ethz-asl/libpointmatcher)) - Ceres-solver ([http://ceres-solver.org/](http://ceres-solver.org/)) - YAML ([https://github.com/jbeder/yaml-cpp](https://github.com/jbeder/yaml-cpp)) This package was tested on Ubuntu 16.04, ROS Kinetic ## Usage 1. Create a yaml file ```cfg.yaml``` into a fold, please follow <b>../data/example/top_tail/cfg.yaml</b> to write 2. Preproces raw pointcloud to keep points in planar surfaces. You can use the below function or <b>CloudCompare</b> software to filter redundant points:<br> - ```rosrun lidar_appearance_calibration calib_preprocess ../data/example/raw/ref.pcd ../data/example/raw/data.pcd ../data/example/raw/ref_filter.pcd ../data/example/raw/data_filter.pcd``` - <img src="image/filter.png" width="300"> 3. Extract planes from pointcloud using RANSAC <br> - ```rosrun lidar_appearance_calibration calib_plane_extraction pcd ../data/example/top_front/cfg.yaml``` - ```rostopic pub /contact/icp std_msgs/String "data: ''"``` - ```rviz -d ../rviz/plane_extraction``` 4. Visualize and check the extracted plane order (same colors mean that data are associated) - ```rosrun pcl_ros pcd_to_pointcloud ../data/example/top_front/plane/ref_planes.pcd 1``` - <img src="image/ref_planes.png" width="300"> - ```rosrun pcl_ros pcd_to_pointcloud ../data/example/top_front/plane/data_planes.pcd 1``` - <img src="image/data_planes.png" width="300"> - ```rviz -d ../rviz/plane_extraction``` <br> 5. Implement ICP to minimize Plane-to-Plane error * Auto initialization: <br> ```rosrun lidar_appearance_calibration calib_icp ../data/example/top_front/ref_cfg.yaml ../data/example/top_front/data_cfg.yaml a``` * Manual initialization: <br> ```rosrun lidar_appearance_calibration calib_icp ../data/example/top_front/ref_cfg.yaml ../data/example/top_front/data_cfg.yaml m``` * Call the program: <br> ```rostopic pub /contact/save_plane std_msgs/String "data: ''"``` 6. Visualize the calibration result <br> ```pcl_viewer ../data/example/top_front/merged_opt.pcd``` ## Result 1. Plane extraction <br> <img src="image/plane_extraction.png" width="300"> <br> 2. Pointcloud fusion <br> <img src="image/merged.png" width="300"> <br> 3. Calibration resut <br> <img src="image/calibration_result.png" width="600"> <br> ## Reference To use the code, pleace cite this paper: ``` @inproceedings{jiao2019novel, title={A novel dual-lidar calibration algorithm using planar surfaces}, author={Jiao, Jianhao and Liao, Qinghai and Zhu, Yilong and Liu, Tianyu and Yu, Yang and Fan, Rui and Wang, Lujia and Liu, Ming}, booktitle={2019 IEEE Intelligent Vehicles Symposium (IV)}, pages={1499--1504}, year={2019}, organization={IEEE} } ```