Livox-LiDAR-Camera Calibrator

In this repository, we aim to build a high-precision automatic calibration tool for Livox-LiDAR-Camera system using a printed chessboard.

Paper

For non-commercial research use. Please cite our Optics Express paper when use it, and it can be downloaded here:

  @article{RCLC,
  author = {Zhengchao Lai and Yue Wang and Shangwei Guo and Xiantong Meng and Jun Li and Wenhao Li and Shaokun Han}
  number = {10},
  pages = {16242--16263},
  publisher = {OSA},
  title = {Laser reflectance feature assisted accurate extrinsic calibration for non-repetitive scanning LiDAR and camera systems},
  volume = {30},
  month = {May},
  year = {2022},
  url = {http://opg.optica.org/oe/abstract.cfm?URI=oe-30-10-16242},
  doi = {10.1364/OE.453449}
  }

Calibration results

• Grid fitting process:

  <div align=center><img src="resources/grid_fitting.gif" style="zoom:100%;" />

• Reproject results: point cloud to image ( more than 100m distance, toward pixel-wise align precision ):

  <div align=center><img src="resources/reprj-img.png" style="zoom:50%;" />

• Reproject results: image pixel map to point clouds:

  <div align=center><img src="resources/reprj-pc.png" style="zoom:50%;" /></div>

Requirements

• PCL (>1.7)
• Eigen3(3.3.4)
• OpenCV (>3.0)
• ceres

Usage

1. Configure data_root_path to be the data path in file config_real.yaml.

2. build project:

   mkdir build && cd build

   cmake .. && make

3. Segment the chessboard from pointcloud.

   ./BoardSegmentation

4. Start calibrate and show the results.

   ./Calibrate

Realworld Datasets

Indoor and outdoor calibration data for MID-40 and Zed2 system can be downloded at GoogleDrive

<div align=center><img src="resources/img_realworld.png" width="360" height="220"><img src="resources/pc_realworld.png" width="360" height="220"></div>

Simulated Datasets

The complete code of simulation tool has been uploaded to Livox_Cam_Simulator. Some result as shown in the following figures.

• The scan model of Livox LiDAR:

  <div align=center><img src="resources/total.gif" style="zoom:50%;" /></div>

• The zed camera combined with Livox LiDAR:

  <div align=center><img src="resources/LC-model.png" style="zoom:50%;" /></div>

• The Gazebo scene:

  <div align=center><img src="resources/gazebo_scene.png" style="zoom:30%;" /></div>

• The rviz visulation:

  <div align=center><img src="resources/rviz_pc.png" style="zoom:30%;" /></div>

Point clouds with reflectance intensity which mapped according to the color of the materials:

<div align=center><img src="resources/with_intensity.png" style="zoom:30%;" /></div>