lidar_camera_calibration

1. src/lidar_camera_calibration/launch/find_transform.launch

<?xml version="1.0"?>
<launch>
  <!-- <param name="/use_sim_time" value="true"/> -->
  

  <!-- ArUco mapping -->
  <node pkg="aruco_mapping" type="aruco_mapping" name="aruco_mapping" output="screen">
    <remap from="/image_raw" to="/HKRCams/Cam0"/> 

    <param name="calibration_file" type="string" value="/home/wll/ROS_ws/lidar_camera_calibration_ws/src/aruco_mapping/data/geniusF100.ini" /> 
    <param name="num_of_markers" type="int" value="2" />
    <param name="marker_size" type="double" value="0.32"/>
    <param name="space_type" type="string" value="plane" />
    <param name="roi_allowed" type="bool" value="false" />


  </node>  

  <rosparam command="load" file="/home/wll/ROS_ws/lidar_camera_calibration_ws/src/lidar_camera_calibration/conf/lidar_camera_calibration.yaml" />
  <node pkg="lidar_camera_calibration" type="find_transform" name="find_transform" output="screen">
  </node>
</launch>

2. /src/aruco_mapping/data/geniusF100.ini

# oST version 5.0 parameters

[image]

width
1280

height
1024

[camera]

camera matrix
1303.7203773592196 0 632.8234352711364
0 1302.6232797828623 501.6445650333478
0.000000 0.000000 1.000000

distortion
-0.08704631137305421 0.12408604607542127 2.8845752657658074e-05 0.0008848310189193858 0

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
1303.7203773592196 0 632.8234352711364 0
0 1302.6232797828623 501.6445650333478 0
0 0 1 0

3. conf/lidar_camera_calibration.yaml

lidar_camera_calibration:
  camera_frame_topic: /HKRCams/Cam0 #/frontNear/left/image_raw
  # camera_info_topic: /frontNear/left/camera_info
  velodyne_topic: /velodyne_points

4. conf/config_file.txt

1280 1024
-3.5 3.5
-4.0 4.0
0.0 3.7
0.0004
2
0
1303.7203773592196 0 632.8234352711364 0 
0 1302.6232797828623 501.6445650333478 0 
0 0 1 0
100
1.57 -1.57 0
0 0 0
0

5. conf/marker_coordinates.txt

2
47.0
46.5
2.6
0.75
33.0
46.4
46.0
1.4
1.1
30.0