https://github.com/chennuo0125-HIT/lidar_imu_calib

automatic calibration of 3D lidar and IMU extrinsics
https://github.com/chennuo0125-HIT/lidar_imu_calib

Last synced: 3 months ago
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automatic calibration of 3D lidar and IMU extrinsics

• Host: GitHub
• URL: https://github.com/chennuo0125-HIT/lidar_imu_calib
• Owner: chennuo0125-HIT
• Created: 2020-12-15T11:03:02.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2021-05-26T01:31:05.000Z (about 3 years ago)
• Last Synced: 2023-11-07T19:18:24.854Z (8 months ago)
• Language: C++
• Homepage:
• Size: 1.67 MB
• Stars: 406
• Watchers: 3
• Forks: 105
• Open Issues: 15
• Metadata Files:
  • Readme: README.md

Lists

• Awesome-LiDAR-IMU-calibration - chennuo0125-HIT/lidar_imu_calib
• awesome-stars - chennuo0125-HIT/lidar_imu_calib - automatic calibration of 3D lidar and IMU extrinsics (C++)

README

        
# lidar_imu_calib

### overview

when develop slam based on 3D lidar, we often use imu to provide priori for matching algorithm(icp, ndt), so the transform between lidar and imu need to be calibrated.For matching algorithm, attitude in transfom is more important than position in transform, and position often be set to 0. So this repo concentrate on calibrate attitude component in transform between lidar and imu.

### prerequisite 

- [ROS](http://wiki.ros.org/kinetic/Installation/Ubuntu)

### compile

```

mkdir -p catkin_ws/src   

cd catkin_ws/src

git clone https://github.com/chennuo0125-HIT/lidar_imu_calib.git

cd ..

catkin_make -DCATKIN_WHITELIST_PACKAGES="ndt_omp;lidar_imu_calib"

```

### run step

1. use rosbag tool record imu and lidar data

   ```

   rosbag record /imu /lidar_points

   ```

2. config launch file

   ```

   lidar_topic: lidar data topic name

   imu_topic: imu data topic name

   bag_file: *.bag file record imu and lidar data topic

   ```

3. start

   ```

   roslaunch lidar_imu_calib calib_exR_lidar2imu.launch

   ```

### reference

[https://blog.csdn.net/weixin_37835423/article/details/110672571](https://blog.csdn.net/weixin_37835423/article/details/110672571)