Sensor/LIDAR

[Livox Mid-70] Camera-LiDAR Calibration

전두선 2021. 4. 16. 19:08

intrinsic
606.95271317        0                   328.14081516
0                   607.3441055         219.49336198
0                   0                   1

distorsion
0 0 0 0 0

 

github.com/Livox-SDK/livox_camera_lidar_calibration

 

Livox-SDK/livox_camera_lidar_calibration

Calibrate the extrinsic parameters between Livox LiDAR and camera - Livox-SDK/livox_camera_lidar_calibration

github.com

 

Camera Calibration Data

Intrinsic: 
[606.95271317, 0, 328.14081516;
 0, 607.3441055, 219.49336198;
 0, 0, 1]

Distortion parameters: 
[0.40152405, -0.022868, -0.70206082, 2.00374757, 0.0]

 

Camera-LiDAR Calibration Data

 

corner_lidar.txt

test0
1
3.391000 0.319000 0.855000
2
3.311000 0.274000 -0.052000
3
3.320000 -0.925000 0.018000
4
3.414000 -0.881000 0.918000
test1
1
3.150000 1.361000 0.780000
2
3.032000 1.312000 -0.100000
3
3.428000 0.200000 -0.067000
4
3.519000 0.271000 0.844000
test2
1
3.379000 -0.252000 0.876000
2
3.304000 -0.293000 -0.023000
3
3.115000 -1.489000 0.048000
4
3.202000 -1.436000 0.956000
test3
1
3.112000 1.387000 0.808000
2
3.049000 1.313000 -0.091000
3
3.444000 0.175000 -0.029000
4
3.535000 0.255000 0.856000
test4
1
3.547000 0.279000 0.859000
2
3.434000 0.256000 -0.049000
3
3.281000 -0.931000 0.025000
4
3.392000 -0.885000 0.929000
test5
1
3.252000 1.362000 0.811000
2
3.141000 1.305000 -0.089000
3
3.339000 0.137000 -0.022000
4
3.446000 0.202000 0.872000

 

corner_photo.txt

photo
1
258        39
2
263.537        211.136
3
495        202
4
488        32
photo
1
28.1472        35.4277
2
35.2315        221.768
3
278        212
4
268        48
photo
1
368        35
2
372.438        207.75
3
619        198
4
612        17
photo
1
32        32
2
40.3338        217.668
3
283.204        207.434
4
273        43
photo
1
265        43
2
268.366        208.789
3
499.829        199.641
4
491        29
photo
1
43.1526        36.6063
2
47.8831        215.698
3
289        207
4
282.628        41.8569

 

extrinsic.txt

extrinsic
-0.011897  -0.999772  0.0177263  -0.0220019
-0.0583059  -0.0170038  -0.998154  0.107829
0.998228  -0.0129086  -0.0580903  -0.16261
0  0  0  1

 

intrinsic.txt

intrinsic
606.95271317        0                   328.14081516
0                   607.3441055         219.49336198
0                   0                   1

distorsion
0 0 0 0 0

 

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