Use the opencalib open source calibration tool to calibrate lidar, camera, and IMU. Use your own data to calibrate and solve the problem of Segmentation fault (core dumped).

 Calibration tool source code download:

PJLab-ADG/SensorsCalibration: OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving (github.com)https://github.com/PJLab-ADG/SensorsCalibration论文介绍：

[2205.14087] OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving (arxiv.org) https://arxiv.org/abs/2205.14087 After downloading, install and compile. You may encounter some problems, but they are not serious. Online Searching should solve it.

Here we take the manual calibration of lidar2camera as an example to illustrate the steps:

1. Install the required libraries first

• Cmake
• opencv 2.4
• own 3
• PCL 1.9
• Pangolin

Install them one by one. There are many installation tutorials on the Internet. Installing these is generally no problem, so I won’t go into details here.

Then go to the / lidar2camera/manual_calib directory and execute the following command

mkdir -p build && cd build
cmake .. && make

Then run the test example:

cd ~./manual_calib/
./bin/run_lidar2camera data/0.png data/0.pcd data/center_camera-intrinsic.json data/top_center_lidar-to-center_camera-extrinsic.json

Get the following effect:

 

 The above steps are generally not a big problem.

 

 Some problems may occur when using your own data for calibration, such as Segmentation fault (core dumped)

Modify the .cpp file in the src directory and change modification_list_[i] = tmp in the file to modification_list_.push_back(tmp).

Then go into the build folder and recompile:

cmake .. && make

and then run