Camera and 2d Laser sensor calibration

asked 2017-10-16 15:30:01 -0500

blackholebear gravatar image

Hi, does anyone know a package to perform the calibration of a camera and a 2d Laser sensor? I am using the camera Logitech C310 and the Laser sensor hokuyo urg-04lx-ug01.

I have tried several public available Matlab toolboxes, such as:

https://github.com/MichalNowicki/TAPA... --> The calibration here hardcodes the usage of a laser sensor with 721 points (mine retrieves only 512) and the math is formulated based on that.

http://www-personal.acfr.usyd.edu.au/... -> Seems to be the one that generalizes the best for different laser sensors. However, it presents several errors since the code has not been maintained for a long time.

https://github.com/zhixy/Laser-Camera... -> Uses laser scans with more than one laser bean and throws errors with 2d lasers inputs.

http://wiki.ros.org/laser_camera_cali... -> I could not find the src (I use ROS Lunar).

Thanks.

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Comments

Hey @blackholebear, I am working on a similar problem. Did you manage to find and test out a working package for camera-2d laser sensor?

pavel92 gravatar imagepavel92 ( 2017-11-13 10:56:00 -0500 )edit

Sorry for the late reply, pavel92! I managed to get rid of the errors using the USYD toolbox. It works great.

blackholebear gravatar imageblackholebear ( 2018-01-17 15:36:56 -0500 )edit

@blackholebear Is this toolbox public? If yes can you please send me a link to check it out. Thanks.

pavel92 gravatar imagepavel92 ( 2018-01-18 09:50:57 -0500 )edit

Yes! It is the second link in the question, pavel92.

blackholebear gravatar imageblackholebear ( 2018-01-18 11:29:24 -0500 )edit

Hi @blackholebear, could you explain how did you fix the errors which appear during calibration using RADLOCC?

RocketFlash gravatar imageRocketFlash ( 2018-07-12 03:48:11 -0500 )edit

Hello @blackholebear Could you elaborate on how you fixed the error

Adish gravatar imageAdish ( 2018-07-25 19:37:35 -0500 )edit