Setup

While calibration can be carried out by directly feeding live data through ROS, we strongly discourage this approach. We suggest doing recording the appropriate calibration sequences prior to the calibration itself.

Be sure to record many cases both for Camera Intrinsics and for LiDAR-Camera calibration procedures.

Once the calibration bags are ready, we can start the calibration toolbox!

Docker

We suggest running ca2lib using Docker. Simply cd into the repository and build the Docker image:

git clone [email protected]:rvp-group/ca2lib.git
cd ca2lib
./docker/build.sh

To finally start the container, simply:

./docker/run.sh <DATA-DIR>

Build from source

We were not able to discourage you!

Assuming you already have ROS Noetic installed (if not, refer to this guide), install the requirements:

sudo apt-get install -y \
    libspdlog-dev

Clone the repository inside your catkin workspace and build the package.

cd catkin_ws/src
git clone [email protected]:rvp-group/ca2lib.git
cd ..
catkin build ca2lib