Preparing for r3live

Build

cd /your/catkin/workspace/src/
git clone https://github.com/h-wata/r3live_tools
cd /your/catkin/workspace/
catkin b r3live_tools
source devel/setup.bash

camera calibration

camera_calibration(ROS wiki)

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.04 image:=/image_color

Record bag files for calibration

Get some Bag files that record Image and Pointcloud2 topic for a few second. Place your bag files for calibration in the /path/to/r3live_tools/bags.

Create image and pcd files from bag file.

roslaunch r3live_tools bag_to_image_and_pcd.launch file_name:=__bag_file__.bag image_topic:=/camera/image_color
./scripts/rename_calib_files.py 0
# export ./calib/images/0.jpg and ./calib/pcds/0.pcd

Repeat for the number of bag files placed.

Livox Lidar and camera calibration

hku-mars/livox_camera_calib(Github)

Build livox_camera_calib according to the README.md in the link above.

Fix common and camera parameter in multi_calib.yaml by the command below.

rosed livox_camera_calib multi_calib.yaml

# Data path. adjust them!
common: # <- Modify to your path.
    image_path:  "/path/to/r3live_tools/calib/images"
    pcd_path:  "/path/to/r3live_tools/calib/pcds"
    result_path:  "/path/to/r3live_tools/calib/extrinsic.txt"
    data_num: 3
# Camera Parameters. Adjust them!
camera: # <- Modify the parameters to those obtained in camera_calibration
    camera_matrix: [1704.1857 , 0.0,      886.5115,
                    0.0,     1719.5228,  467.9244,
                    0.0,     0.0,      1.0     ]
    dist_coeffs: [-0.0963, 0.0708, 0.0011, -0.0017, 0.000000]

# Calibration Parameters.!
calib:
    calib_config_file: "/path/to/livox_camera_calib/config/config_outdoor.yaml"
    use_rough_calib: true # set true if your initial_extrinsic is bad

Start calibration with the command below.

roslaunch livox_camera_calib multi_calib.launch

Run the calibration on several files, and if the image and point cloud fit well adopt the extrinsic.txt.

Transpose extrinsic parameter

The rotation matrix in extrinsic.txt needs to be transposed.

./scripts/transpose_extrinsic_parameter.py
# Export
# camera_ext_R:
# array([ 0.00483695,  0.0733586 ,  0.997294  , -0.999731  , -0.022263  ,
#         0.00648639,  0.0226786 , -0.997057  ,  0.0732312 ])
# camera_ext_T:
# array([-0.35275 , -0.159217, -0.24572 ])

Copy the calculated parameters onto the r3live/config/r3live_config.yaml and modify the camera parameters to those obtained in camera_calibration.

Please enjoy r3live!!

roslaunch r3live_tools r3live_bag.launch