laserIMUCalibration
laserIMUCalibration copied to clipboard
How to use the this package
Hi,
I am doing the calibration between imu and laser, and find this repository very interesting. However, I did not found the instruction about how to use the software, such as what are the inputs and where are the outputs, as well as the format of the content in the inputs.
I would appreciate it if you could give me some hints.
Bests
Hi @changduanyu,
Sorry für the very late reply. This package was part of my mastersthesis.
This repo also contains all the pointcloud-files that were produced by the Velodyne laser scanner and used throughout the project.
To use the project, compile it accordingly. After that, call the resulting binary and pass the lander scan folder as the first parameter, and the number of laser scans that should be used as the second parameter.
During execution, the program should print out the evaluated pose of the laser scanner.
For further interest, I also encourage you to check the iPython-notebooks in the repo of my mastersthesis.
Please see as well the laserNAVCalib.cpp for further information on how to configure the calibration.
I hope these parts can help on how to use the project.
Greetings, Michael