Online LIDAR-Camera Extrinsic Calibration

Terminal 1

roscore

Terminal 2

Open calib_l2c.launch and enter K (flattened camera matrix array) obtained via intrinsic calibration

DO NOT USE camera_matrix from ost.yaml file as K since it doesn't include distortion parameters and hence running projection in next step on rect (instead of raw) image will not be correct

roslaunch calib_lidar_cam calib_l2c.launch

Terminal 3

Open calib_l2c_projection.launch and enter correct lidar topic, lidar frame_id, and compressed camera topic

Enter the name of the file for the LIDAR to CAMERA C_T_L transformation matrix and the projection matrix C_proj_L that you would like to save - saves a numpy file

roslaunch calib_lidar_cam calib_l2c_projection.launch

Terminal 4

rviz

Terminal 5

rosrun rqt_reconfigure rqt_reconfigure

Adjust the roll, pitch, yaw, translation x,y, and z value so that the projection of lidar points match the image

Save params once satisfied