├── .gitignore
├── .idea
    ├── camera_lidar_calibration.iml
    ├── codeStyles
    │   └── Project.xml
    ├── misc.xml
    ├── modules.xml
    ├── vcs.xml
    └── workspace.xml
├── CMakeLists.txt
├── README.md
├── config
    ├── config.yaml
    └── config_logitech.yaml
├── data
    ├── data.txt
    ├── data_v2.txt
    ├── image00.png
    ├── image_points.txt
    ├── image_test.png
    ├── laser_points.txt
    ├── laser_test_points.txt
    └── laser_test_points_v2.txt
├── imgs
    ├── image00.png
    ├── image01.png
    ├── image02.png
    ├── image03.png
    ├── image04.png
    ├── image05.png
    ├── image06.png
    ├── image07.png
    ├── image08.png
    ├── image09.png
    ├── image10.png
    ├── image11.png
    ├── image12.png
    ├── image13.png
    ├── image14.png
    ├── image15.png
    ├── image16.png
    ├── image17.png
    ├── image18.png
    ├── image19.png
    ├── image20.png
    ├── image21.png
    ├── image22.png
    ├── image23.png
    ├── image24.png
    ├── image25.png
    ├── image26.png
    ├── image27.png
    ├── image28.png
    ├── image29.png
    ├── image30.png
    ├── image31.png
    ├── image32.png
    ├── image33.png
    ├── image34.png
    ├── image35.png
    ├── image36.png
    ├── image37.png
    ├── image38.png
    ├── image39.png
    └── image_lists.txt
├── include
    ├── config.h
    ├── error_types.h
    └── error_types_v2.h
├── lib
    └── libcamera_lidar_calibration.so
├── results
    ├── corner_detect.gif
    ├── demo.gif
    ├── demo.mp4
    ├── flag.jpg
    ├── optimization_result.png
    ├── reprojection1.png
    ├── reprojection2.png
    └── rotation.gif
├── rosbag
    └── laser_camera_demo.bag
└── src
    ├── camera_lidar_calibration.cc
    ├── camera_lidar_calibration_v2.cc
    ├── config.cc
    ├── corner_detecter.cc
    ├── detect_plane_with_aruco.cc
    └── reprojection.cc


/.gitignore:
--------------------------------------------------------------------------------
1 | build/
2 | cmake-build-debug/
3 | .idea/
4 | 


--------------------------------------------------------------------------------
/.idea/camera_lidar_calibration.iml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <module classpath="CMake" type="CPP_MODULE" version="4" />


--------------------------------------------------------------------------------
/.idea/codeStyles/Project.xml:
--------------------------------------------------------------------------------
 1 | <component name="ProjectCodeStyleConfiguration">
 2 |   <code_scheme name="Project" version="173">
 3 |     <Objective-C-extensions>
 4 |       <file>
 5 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
 6 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
 7 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
 8 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
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10 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
11 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
12 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
13 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
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20 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
21 |         <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
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23 |       <extensions>
24 |         <pair source="cpp" header="h" fileNamingConvention="NONE" />
25 |         <pair source="c" header="h" fileNamingConvention="NONE" />
26 |       </extensions>
27 |     </Objective-C-extensions>
28 |   </code_scheme>
29 | </component>


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/.idea/misc.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <project version="4">
3 |   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
4 |   <component name="CidrRootsConfiguration">
5 |     <sourceRoots>
6 |       <file path="$PROJECT_DIR$" />
7 |     </sourceRoots>
8 |   </component>
9 | </project>


--------------------------------------------------------------------------------
/.idea/modules.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <project version="4">
3 |   <component name="ProjectModuleManager">
4 |     <modules>
5 |       <module fileurl="file://$PROJECT_DIR$/.idea/camera_lidar_calibration.iml" filepath="$PROJECT_DIR$/.idea/camera_lidar_calibration.iml" />
6 |     </modules>
7 |   </component>
8 | </project>


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/.idea/vcs.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <project version="4">
3 |   <component name="VcsDirectoryMappings">
4 |     <mapping directory="$PROJECT_DIR$" vcs="Git" />
5 |   </component>
6 | </project>


--------------------------------------------------------------------------------
/.idea/workspace.xml:
--------------------------------------------------------------------------------
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  4 |     <generated>
  5 |       <config projectName="camera_lidar_calibration" targetName="reprojection" />
  6 |       <config projectName="camera_lidar_calibration" targetName="corner_detecter" />
  7 |       <config projectName="camera_lidar_calibration" targetName="camera_lidar_calibration" />
  8 |       <config projectName="camera_lidar_calibration" targetName="camera_laser_calibration" />
  9 |     </generated>
 10 |   </component>
 11 |   <component name="CMakeSettings" AUTO_RELOAD="true">
 12 |     <configurations>
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 17 |     <list default="true" id="743d4049-0952-486f-808d-0a65282c9ada" name="Default" comment="">
 18 | <<<<<<< HEAD
 19 |       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
 20 | =======
 21 |       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
 22 |       <change beforePath="$PROJECT_DIR$/README.md" beforeDir="false" afterPath="$PROJECT_DIR$/README.md" afterDir="false" />
 23 |       <change beforePath="$PROJECT_DIR$/data/image_points.txt" beforeDir="false" afterPath="$PROJECT_DIR$/data/image_points.txt" afterDir="false" />
 24 |       <change beforePath="$PROJECT_DIR$/lib/libcamera_lidar_calibration.so" beforeDir="false" afterPath="$PROJECT_DIR$/lib/libcamera_lidar_calibration.so" afterDir="false" />
 25 |       <change beforePath="$PROJECT_DIR$/src/reprojection.cc" beforeDir="false" afterPath="$PROJECT_DIR$/src/reprojection.cc" afterDir="false" />
 26 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
 27 |     </list>
 28 |     <ignored path="$PROJECT_DIR$/cmake-build-debug/" />
 29 |     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
 30 |     <option name="TRACKING_ENABLED" value="true" />
 31 |     <option name="SHOW_DIALOG" value="false" />
 32 |     <option name="HIGHLIGHT_CONFLICTS" value="true" />
 33 |     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
 34 |     <option name="LAST_RESOLUTION" value="IGNORE" />
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 36 |   <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
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 39 | <<<<<<< HEAD
 40 |       <file leaf-file-name="reprojection.cc" pinned="false" current-in-tab="false">
 41 |         <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
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 44 |               <caret line="17" column="27" lean-forward="false" selection-start-line="17" selection-start-column="27" selection-end-line="17" selection-end-column="27" />
 45 | =======
 46 |       <file leaf-file-name="laser_points.txt" pinned="false" current-in-tab="false">
 47 |         <entry file="file://$PROJECT_DIR$/data/laser_points.txt">
 48 |           <provider selected="true" editor-type-id="text-editor">
 49 |             <state relative-caret-position="345">
 50 |               <caret line="15" column="12" selection-start-line="15" selection-start-column="12" selection-end-line="15" selection-end-column="12" />
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 58 |             <state relative-caret-position="598">
 59 |               <caret line="68" column="21" selection-start-line="68" selection-start-column="21" selection-end-line="68" selection-end-column="21" />
 60 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
 61 |               <folding>
 62 |                 <element signature="e#1#20#0" expanded="true" />
 63 |               </folding>
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 65 |           </provider>
 66 |         </entry>
 67 |       </file>
 68 | <<<<<<< HEAD
 69 |       <file leaf-file-name="README.md" pinned="false" current-in-tab="true">
 70 |         <entry file="file://$PROJECT_DIR$/README.md">
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 75 |                 <folding />
 76 |               </first_editor>
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 78 |             </state>
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 82 |       <file leaf-file-name="CMakeLists.txt" pinned="false" current-in-tab="false">
 83 |         <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
 84 | =======
 85 |       <file leaf-file-name="corner_detecter.cc" pinned="false" current-in-tab="false">
 86 |         <entry file="file://$PROJECT_DIR$/src/corner_detecter.cc">
 87 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
 88 |           <provider selected="true" editor-type-id="text-editor">
 89 |             <state relative-caret-position="1332">
 90 |               <caret line="90" column="10" selection-start-line="90" selection-start-column="10" selection-end-line="90" selection-end-column="10" />
 91 |             </state>
 92 |           </provider>
 93 |         </entry>
 94 |       </file>
 95 |       <file leaf-file-name="image_points.txt" pinned="false" current-in-tab="false">
 96 |         <entry file="file://$PROJECT_DIR$/data/image_points.txt">
 97 |           <provider selected="true" editor-type-id="text-editor">
 98 |             <state relative-caret-position="92">
 99 |               <caret line="4" selection-start-line="4" selection-end-line="4" />
100 |             </state>
101 |           </provider>
102 |         </entry>
103 |       </file>
104 |       <file leaf-file-name="data.txt" pinned="false" current-in-tab="false">
105 |         <entry file="file://$PROJECT_DIR$/data/data.txt">
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107 |             <state relative-caret-position="345">
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109 |             </state>
110 |           </provider>
111 |         </entry>
112 |       </file>
113 |       <file leaf-file-name="CMakeLists.txt" pinned="false" current-in-tab="false">
114 |         <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
115 |           <provider selected="true" editor-type-id="text-editor">
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118 |             </state>
119 |           </provider>
120 |         </entry>
121 |       </file>
122 | <<<<<<< HEAD
123 |       <file leaf-file-name="camera_lidar_calibration.cc" pinned="false" current-in-tab="false">
124 |         <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
125 |           <provider selected="true" editor-type-id="text-editor">
126 |             <state relative-caret-position="1541">
127 |               <caret line="67" column="5" lean-forward="false" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
128 |               <folding>
129 |                 <element signature="e#200#219#0" expanded="true" />
130 |               </folding>
131 | =======
132 |       <file leaf-file-name="README.md" pinned="false" current-in-tab="true">
133 |         <entry file="file://$PROJECT_DIR$/README.md">
134 |           <provider selected="true" editor-type-id="split-provider[text-editor;markdown-preview-editor]">
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138 |               </first_editor>
139 |               <second_editor />
140 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
141 |             </state>
142 |           </provider>
143 |         </entry>
144 |       </file>
145 |       <file leaf-file-name="demo.gif" pinned="false" current-in-tab="false">
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148 |         </entry>
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150 |       <file leaf-file-name="rotation.gif" pinned="false" current-in-tab="false">
151 |         <entry file="file://$PROJECT_DIR$/results/rotation.gif">
152 |           <provider selected="true" editor-type-id="images" />
153 |         </entry>
154 |       </file>
155 |       <file leaf-file-name="camera_lidar_calibration.cc" pinned="false" current-in-tab="false">
156 |         <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
157 |           <provider selected="true" editor-type-id="text-editor">
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172 |   <component name="IdeDocumentHistory">
173 |     <option name="CHANGED_PATHS">
174 |       <list>
175 |         <option value="$PROJECT_DIR$/src/config.cc" />
176 |         <option value="$PROJECT_DIR$/include/config.h" />
177 |         <option value="$PROJECT_DIR$/config/config.yaml" />
178 |         <option value="$PROJECT_DIR$/src/corner_detecter.cc" />
179 |         <option value="$PROJECT_DIR$/imgs/image_lists.txt" />
180 |         <option value="$PROJECT_DIR$/data/laser_points" />
181 |         <option value="$PROJECT_DIR$/data/image_points.txt" />
182 |         <option value="$PROJECT_DIR$/data/data.txt" />
183 |         <option value="$PROJECT_DIR$/data/laser_test_points.txt" />
184 |         <option value="$PROJECT_DIR$/CMakeLists.txt" />
185 |         <option value="$PROJECT_DIR$/include/error_types.h" />
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187 |         <option value="$PROJECT_DIR$/src/reprojection.cc" />
188 |         <option value="$PROJECT_DIR$/README.md" />
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195 |     <detection-done>true</detection-done>
196 |     <sorting>DEFINITION_ORDER</sorting>
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198 |   <component name="NodePackageJsonFileManager">
199 |     <packageJsonPaths />
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203 |     <option name="x" value="109" />
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208 |   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
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210 |     <navigator proportions="" version="1">
211 |       <foldersAlwaysOnTop value="true" />
212 |     </navigator>
213 |     <panes>
214 |       <pane id="ProjectPane">
215 |         <subPane>
216 |           <expand>
217 |             <path>
218 |               <item name="camera_lidar_calibration" type="b2602c69:ProjectViewProjectNode" />
219 |               <item name="camera_lidar_calibration" type="462c0819:PsiDirectoryNode" />
220 |             </path>
221 |             <path>
222 |               <item name="camera_lidar_calibration" type="b2602c69:ProjectViewProjectNode" />
223 |               <item name="camera_lidar_calibration" type="462c0819:PsiDirectoryNode" />
224 |               <item name="rosbag" type="462c0819:PsiDirectoryNode" />
225 |             </path>
226 |           </expand>
227 |           <select />
228 |         </subPane>
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230 |       <pane id="Scope" />
231 |     </panes>
232 |   </component>
233 |   <component name="PropertiesComponent">
234 |     <property name="WebServerToolWindowFactoryState" value="false" />
235 | <<<<<<< HEAD
236 |     <property name="last_opened_file_path" value="$USER_HOME$/ws_msckf/src" />
237 | =======
238 |     <property name="last_opened_file_path" value="$PROJECT_DIR$" />
239 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
240 |     <property name="nodejs_interpreter_path.stuck_in_default_project" value="undefined stuck path" />
241 |   </component>
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244 |       <recent name="$PROJECT_DIR$/data" />
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255 |         </RuleState>
256 |       </list>
257 |     </option>
258 |   </component>
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260 |     <configuration name="Build All" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="camera_lidar_calibration" RUN_TARGET_NAME="reprojection" EXPLICIT_BUILD_TARGET_NAME="all" />
261 |     <configuration name="camera_laser_calibration" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="camera_lidar_calibration" TARGET_NAME="camera_laser_calibration" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="camera_lidar_calibration" RUN_TARGET_NAME="camera_laser_calibration" />
262 |     <configuration name="corner_detecter" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="camera_lidar_calibration" TARGET_NAME="corner_detecter" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="camera_lidar_calibration" RUN_TARGET_NAME="corner_detecter" />
263 |     <configuration name="reprojection" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="camera_lidar_calibration" TARGET_NAME="reprojection" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="camera_lidar_calibration" RUN_TARGET_NAME="reprojection" />
264 |     <list>
265 |       <item itemvalue="Application.Build All" />
266 |       <item itemvalue="Application.camera_laser_calibration" />
267 |       <item itemvalue="Application.corner_detecter" />
268 |       <item itemvalue="Application.reprojection" />
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276 |       <changelist id="743d4049-0952-486f-808d-0a65282c9ada" name="Default" comment="" />
277 |       <created>1530754023605</created>
278 |       <option name="number" value="Default" />
279 |       <option name="presentableId" value="Default" />
280 |       <updated>1530754023605</updated>
281 |       <workItem from="1530754026446" duration="15232000" />
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283 |       <workItem from="1530965136766" duration="4004000" />
284 |       <workItem from="1531023983734" duration="16000" />
285 | <<<<<<< HEAD
286 |       <workItem from="1531119176944" duration="716000" />
287 |       <workItem from="1531148815770" duration="106000" />
288 | =======
289 |       <workItem from="1531120032133" duration="13221000" />
290 |       <workItem from="1531204965580" duration="2031000" />
291 |       <workItem from="1531229779538" duration="1286000" />
292 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
293 |     </task>
294 |     <servers />
295 |   </component>
296 |   <component name="TimeTrackingManager">
297 | <<<<<<< HEAD
298 |     <option name="totallyTimeSpent" value="25846000" />
299 |   </component>
300 |   <component name="ToolWindowManager">
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303 |       <window_info id="Project" active="true" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.14363354" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
304 |       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
305 |       <window_info id="CMake" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.3283721" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
306 |       <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
307 |       <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
308 |       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.24033438" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
309 |       <window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="true" content_ui="tabs" />
310 |       <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.3283721" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
311 |       <window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
312 |       <window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
313 |       <window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
314 |       <window_info id="Messages" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32706374" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
315 |       <window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
316 |       <window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
317 |       <window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
318 |       <window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
319 |       <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
320 |       <window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
321 | =======
322 |     <option name="totallyTimeSpent" value="41562000" />
323 |   </component>
324 |   <component name="ToolWindowManager">
325 |     <frame x="109" y="330" width="1505" height="940" extended-state="0" />
326 |     <editor active="true" />
327 |     <layout>
328 |       <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.19163293" />
329 |       <window_info anchor="bottom" id="TODO" order="6" />
330 |       <window_info anchor="bottom" id="CMake" order="7" weight="0.3283721" />
331 |       <window_info anchor="bottom" id="Event Log" order="7" side_tool="true" />
332 |       <window_info anchor="bottom" id="Version Control" order="7" />
333 |       <window_info anchor="bottom" id="Run" order="2" weight="0.2805219" />
334 |       <window_info id="Structure" order="1" side_tool="true" weight="0.25" />
335 |       <window_info anchor="bottom" id="Terminal" order="7" weight="0.3275649" />
336 |       <window_info id="Favorites" order="2" side_tool="true" />
337 |       <window_info anchor="bottom" id="Debug" order="3" weight="0.3998136" />
338 |       <window_info anchor="right" content_ui="combo" id="Hierarchy" order="2" weight="0.25" />
339 |       <window_info anchor="bottom" id="Inspection" order="5" weight="0.4" />
340 |       <window_info anchor="right" id="Commander" order="0" weight="0.4" />
341 |       <window_info anchor="right" id="Ant Build" order="1" weight="0.25" />
342 |       <window_info anchor="bottom" id="Messages" order="7" weight="0.3252563" />
343 |       <window_info anchor="bottom" id="Message" order="0" />
344 |       <window_info anchor="bottom" id="Cvs" order="4" weight="0.25" />
345 |       <window_info anchor="bottom" id="Find" order="1" weight="0.3297491" />
346 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
347 |     </layout>
348 |   </component>
349 |   <component name="TypeScriptGeneratedFilesManager">
350 |     <option name="version" value="1" />
351 |   </component>
352 |   <component name="VcsContentAnnotationSettings">
353 |     <option name="myLimit" value="2678400000" />
354 |   </component>
355 |   <component name="editorHistoryManager">
356 |     <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
357 |       <provider selected="true" editor-type-id="text-editor">
358 |         <state relative-caret-position="1541">
359 | <<<<<<< HEAD
360 |           <caret line="67" column="5" lean-forward="true" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
361 |           <folding>
362 |             <element signature="e#200#219#0" expanded="true" />
363 |           </folding>
364 |         </state>
365 |       </provider>
366 |     </entry>
367 |     <entry file="file://$PROJECT_DIR$/include/error_types.h">
368 |       <provider selected="true" editor-type-id="text-editor">
369 |         <state relative-caret-position="943">
370 |           <caret line="41" column="42" lean-forward="false" selection-start-line="41" selection-start-column="42" selection-end-line="41" selection-end-column="42" />
371 |           <folding />
372 |         </state>
373 |       </provider>
374 |     </entry>
375 |     <entry file="file:///usr/local/include/ceres/problem.h">
376 |       <provider selected="true" editor-type-id="text-editor">
377 |         <state relative-caret-position="5221">
378 |           <caret line="227" column="18" lean-forward="false" selection-start-line="227" selection-start-column="18" selection-end-line="227" selection-end-column="18" />
379 |           <folding />
380 |         </state>
381 |       </provider>
382 |     </entry>
383 |     <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
384 |       <provider selected="true" editor-type-id="text-editor">
385 |         <state relative-caret-position="667">
386 |           <caret line="29" column="12" lean-forward="false" selection-start-line="29" selection-start-column="12" selection-end-line="29" selection-end-column="12" />
387 |           <folding>
388 |             <element signature="e#1#20#0" expanded="true" />
389 |           </folding>
390 |         </state>
391 |       </provider>
392 |     </entry>
393 |     <entry file="file://$PROJECT_DIR$/config/config.yaml">
394 |       <provider selected="true" editor-type-id="text-editor">
395 |         <state relative-caret-position="299">
396 |           <caret line="13" column="26" lean-forward="false" selection-start-line="13" selection-start-column="26" selection-end-line="13" selection-end-column="26" />
397 |           <folding />
398 |         </state>
399 |       </provider>
400 |     </entry>
401 |     <entry file="file://$PROJECT_DIR$/data/laser_points" />
402 |     <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
403 | =======
404 |           <caret line="67" column="5" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
405 |           <folding>
406 |             <element signature="e#200#219#0" expanded="true" />
407 |           </folding>
408 |         </state>
409 |       </provider>
410 |     </entry>
411 |     <entry file="file://$PROJECT_DIR$/README.md">
412 |       <provider selected="true" editor-type-id="split-provider[text-editor;markdown-preview-editor]">
413 |         <state split_layout="SPLIT">
414 |           <first_editor relative-caret-position="1242">
415 |             <caret line="54" lean-forward="true" selection-start-line="54" selection-end-line="54" />
416 |           </first_editor>
417 |           <second_editor />
418 |         </state>
419 |       </provider>
420 |     </entry>
421 |     <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
422 |       <provider selected="true" editor-type-id="text-editor">
423 |         <state relative-caret-position="1541">
424 |           <caret line="67" column="5" lean-forward="true" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
425 |           <folding>
426 |             <element signature="e#200#219#0" expanded="true" />
427 |           </folding>
428 |         </state>
429 |       </provider>
430 |     </entry>
431 |     <entry file="file://$PROJECT_DIR$/include/error_types.h">
432 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
433 |       <provider selected="true" editor-type-id="text-editor">
434 |         <state relative-caret-position="943">
435 |           <caret line="41" column="42" selection-start-line="41" selection-start-column="42" selection-end-line="41" selection-end-column="42" />
436 |         </state>
437 |       </provider>
438 |     </entry>
439 |     <entry file="file:///usr/local/include/ceres/problem.h">
440 |       <provider selected="true" editor-type-id="text-editor">
441 |         <state relative-caret-position="5221">
442 |           <caret line="227" column="18" selection-start-line="227" selection-start-column="18" selection-end-line="227" selection-end-column="18" />
443 |         </state>
444 |       </provider>
445 |     </entry>
446 |     <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
447 |       <provider selected="true" editor-type-id="text-editor">
448 |         <state relative-caret-position="667">
449 |           <caret line="29" column="12" selection-start-line="29" selection-start-column="12" selection-end-line="29" selection-end-column="12" />
450 |           <folding>
451 |             <element signature="e#1#20#0" expanded="true" />
452 |           </folding>
453 |         </state>
454 |       </provider>
455 |     </entry>
456 |     <entry file="file://$PROJECT_DIR$/config/config.yaml">
457 |       <provider selected="true" editor-type-id="text-editor">
458 |         <state relative-caret-position="299">
459 |           <caret line="13" column="26" selection-start-line="13" selection-start-column="26" selection-end-line="13" selection-end-column="26" />
460 |         </state>
461 |       </provider>
462 |     </entry>
463 |     <entry file="file://$PROJECT_DIR$/data/laser_points.txt">
464 |       <provider selected="true" editor-type-id="text-editor">
465 |         <state relative-caret-position="253">
466 |           <caret line="11" column="12" selection-start-line="11" selection-start-column="12" selection-end-line="11" selection-end-column="12" />
467 |         </state>
468 |       </provider>
469 |     </entry>
470 |     <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
471 |       <provider selected="true" editor-type-id="text-editor">
472 |         <state relative-caret-position="851">
473 |           <caret line="37" column="41" selection-start-line="37" selection-start-column="41" selection-end-line="37" selection-end-column="41" />
474 |         </state>
475 |       </provider>
476 |     </entry>
477 |     <entry file="file://$PROJECT_DIR$/data/data.txt">
478 |       <provider selected="true" editor-type-id="text-editor">
479 |         <state relative-caret-position="345">
480 |           <caret line="15" column="28" selection-start-line="15" selection-start-column="28" selection-end-line="15" selection-end-column="28" />
481 |         </state>
482 |       </provider>
483 |     </entry>
484 |     <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
485 |       <provider selected="true" editor-type-id="text-editor">
486 |         <state relative-caret-position="1541">
487 |           <caret line="67" column="5" lean-forward="true" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
488 |           <folding>
489 |             <element signature="e#200#219#0" expanded="true" />
490 |           </folding>
491 |         </state>
492 |       </provider>
493 |     </entry>
494 |     <entry file="file://$PROJECT_DIR$/include/error_types.h">
495 |       <provider selected="true" editor-type-id="text-editor">
496 |         <state relative-caret-position="943">
497 |           <caret line="41" column="42" selection-start-line="41" selection-start-column="42" selection-end-line="41" selection-end-column="42" />
498 |         </state>
499 |       </provider>
500 |     </entry>
501 |     <entry file="file:///usr/local/include/ceres/problem.h">
502 |       <provider selected="true" editor-type-id="text-editor">
503 |         <state relative-caret-position="5221">
504 |           <caret line="227" column="18" selection-start-line="227" selection-start-column="18" selection-end-line="227" selection-end-column="18" />
505 |         </state>
506 |       </provider>
507 |     </entry>
508 |     <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
509 |       <provider selected="true" editor-type-id="text-editor">
510 |         <state relative-caret-position="667">
511 |           <caret line="29" column="12" lean-forward="true" selection-start-line="29" selection-start-column="12" selection-end-line="29" selection-end-column="12" />
512 |           <folding>
513 |             <element signature="e#1#20#0" expanded="true" />
514 |           </folding>
515 |         </state>
516 |       </provider>
517 |     </entry>
518 |     <entry file="file://$PROJECT_DIR$/config/config.yaml">
519 |       <provider selected="true" editor-type-id="text-editor">
520 |         <state relative-caret-position="299">
521 |           <caret line="13" column="7" lean-forward="true" selection-start-line="13" selection-start-column="7" selection-end-line="13" selection-end-column="7" />
522 |         </state>
523 |       </provider>
524 |     </entry>
525 | <<<<<<< HEAD
526 |     <entry file="file://$PROJECT_DIR$/data/laser_points" />
527 | =======
528 |     <entry file="file://$PROJECT_DIR$/data/laser_points.txt">
529 |       <provider selected="true" editor-type-id="text-editor">
530 |         <state relative-caret-position="322">
531 |           <caret line="14" column="9" selection-start-line="14" selection-start-column="9" selection-end-line="14" selection-end-column="9" />
532 |         </state>
533 |       </provider>
534 |     </entry>
535 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
536 |     <entry file="file://$PROJECT_DIR$/src/corner_detecter.cc">
537 |       <provider selected="true" editor-type-id="text-editor">
538 |         <state relative-caret-position="2668">
539 |           <caret line="116" column="4" lean-forward="true" selection-start-line="116" selection-start-column="4" selection-end-line="116" selection-end-column="89" />
540 |         </state>
541 |       </provider>
542 |     </entry>
543 |     <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
544 |       <provider selected="true" editor-type-id="text-editor">
545 |         <state relative-caret-position="851">
546 |           <caret line="37" column="41" selection-start-line="37" selection-start-column="41" selection-end-line="37" selection-end-column="41" />
547 |         </state>
548 |       </provider>
549 |     </entry>
550 |     <entry file="file://$PROJECT_DIR$/src/config.cc">
551 |       <provider selected="true" editor-type-id="text-editor">
552 |         <state>
553 |           <caret column="13" selection-start-column="13" selection-end-column="13" />
554 |         </state>
555 |       </provider>
556 |     </entry>
557 |     <entry file="file://$PROJECT_DIR$/data/image_points.txt">
558 |       <provider selected="true" editor-type-id="text-editor">
559 |         <state>
560 |           <caret column="15" selection-start-column="15" selection-end-column="15" />
561 |         </state>
562 |       </provider>
563 |     </entry>
564 |     <entry file="file://$PROJECT_DIR$/data/data.txt">
565 |       <provider selected="true" editor-type-id="text-editor">
566 |         <state>
567 |           <caret column="28" selection-start-column="28" selection-end-column="28" />
568 |         </state>
569 |       </provider>
570 |     </entry>
571 |     <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
572 |       <provider selected="true" editor-type-id="text-editor">
573 |         <state relative-caret-position="391">
574 |           <caret line="17" column="19" selection-start-line="17" selection-start-column="19" selection-end-line="17" selection-end-column="19" />
575 |           <folding>
576 |             <element signature="e#200#219#0" expanded="true" />
577 |           </folding>
578 |         </state>
579 |       </provider>
580 |     </entry>
581 |     <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
582 |       <provider selected="true" editor-type-id="text-editor">
583 |         <state relative-caret-position="92">
584 |           <caret line="4" lean-forward="true" selection-start-line="4" selection-end-line="4" />
585 |           <folding>
586 |             <element signature="e#1#20#0" expanded="true" />
587 |           </folding>
588 |         </state>
589 |       </provider>
590 |     </entry>
591 |     <entry file="file://$PROJECT_DIR$/config/config.yaml">
592 |       <provider selected="true" editor-type-id="text-editor">
593 |         <state relative-caret-position="46">
594 |           <caret line="2" column="51" selection-start-line="2" selection-start-column="51" selection-end-line="2" selection-end-column="51" />
595 |         </state>
596 |       </provider>
597 |     </entry>
598 |     <entry file="file://$PROJECT_DIR$/imgs/image_lists.txt">
599 |       <provider selected="true" editor-type-id="text-editor">
600 |         <state relative-caret-position="46">
601 |           <caret line="2" column="10" selection-start-line="2" selection-start-column="10" selection-end-line="2" selection-end-column="10" />
602 |         </state>
603 |       </provider>
604 |     </entry>
605 |     <entry file="file://$PROJECT_DIR$/data/image_points.txt">
606 |       <provider selected="true" editor-type-id="text-editor">
607 |         <state relative-caret-position="46">
608 |           <caret line="2" column="15" selection-start-line="2" selection-start-column="15" selection-end-line="2" selection-end-column="15" />
609 |         </state>
610 |       </provider>
611 |     </entry>
612 |     <entry file="file:///usr/local/include/opencv2/core/mat.inl.hpp">
613 |       <provider selected="true" editor-type-id="text-editor">
614 |         <state relative-caret-position="17204">
615 |           <caret line="748" column="6" lean-forward="true" selection-start-line="748" selection-start-column="6" selection-end-line="748" selection-end-column="6" />
616 |         </state>
617 |       </provider>
618 |     </entry>
619 |     <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
620 |       <provider selected="true" editor-type-id="text-editor">
621 |         <state relative-caret-position="391">
622 |           <caret line="17" lean-forward="true" selection-start-line="17" selection-end-line="17" />
623 |         </state>
624 |       </provider>
625 |     </entry>
626 |     <entry file="file://$PROJECT_DIR$/src/config.cc">
627 |       <provider selected="true" editor-type-id="text-editor">
628 |         <state>
629 |           <caret column="13" selection-start-column="13" selection-end-column="13" />
630 |         </state>
631 |       </provider>
632 |     </entry>
633 |     <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
634 |       <provider selected="true" editor-type-id="text-editor">
635 |         <state>
636 |           <caret selection-end-line="7" selection-end-column="3" />
637 |           <folding>
638 |             <element signature="e#200#219#0" expanded="true" />
639 |           </folding>
640 |         </state>
641 |       </provider>
642 |     </entry>
643 |     <entry file="file://$PROJECT_DIR$/include/config.h">
644 |       <provider selected="true" editor-type-id="text-editor">
645 |         <state relative-caret-position="414">
646 |           <caret line="18" column="19" selection-start-line="18" selection-start-column="19" selection-end-line="18" selection-end-column="19" />
647 |         </state>
648 |       </provider>
649 |     </entry>
650 |     <entry file="file://$PROJECT_DIR$/src/corner_detecter.cc">
651 |       <provider selected="true" editor-type-id="text-editor">
652 |         <state relative-caret-position="161">
653 |           <caret line="7" column="3" lean-forward="true" selection-start-line="7" selection-start-column="3" selection-end-line="7" selection-end-column="3" />
654 |         </state>
655 |       </provider>
656 |     </entry>
657 |     <entry file="file:///usr/local/include/opencv2/core/mat.inl.hpp">
658 |       <provider selected="true" editor-type-id="text-editor">
659 |         <state relative-caret-position="17204">
660 |           <caret line="748" column="6" selection-start-line="748" selection-start-column="6" selection-end-line="748" selection-end-column="6" />
661 |         </state>
662 |       </provider>
663 |     </entry>
664 |     <entry file="file://$PROJECT_DIR$/include/config.h">
665 |       <provider selected="true" editor-type-id="text-editor">
666 |         <state relative-caret-position="414">
667 |           <caret line="18" column="19" selection-start-line="18" selection-start-column="19" selection-end-line="18" selection-end-column="19" />
668 |         </state>
669 |       </provider>
670 |     </entry>
671 |     <entry file="file:///usr/local/include/opencv2/imgproc.hpp">
672 |       <provider selected="true" editor-type-id="text-editor">
673 |         <state relative-caret-position="435">
674 |           <caret line="2607" column="30" lean-forward="true" selection-start-line="2607" selection-start-column="30" selection-end-line="2607" selection-end-column="30" />
675 |         </state>
676 |       </provider>
677 |     </entry>
678 |     <entry file="file://$USER_HOME$/opencv-3.1.0/modules/imgproc/src/undistort.cpp" />
679 |     <entry file="file://$PROJECT_DIR$/imgs/image_lists.txt">
680 |       <provider selected="true" editor-type-id="text-editor">
681 |         <state relative-caret-position="716">
682 |           <caret line="39" column="11" selection-start-line="39" selection-start-column="11" selection-end-line="39" selection-end-column="11" />
683 |         </state>
684 |       </provider>
685 |     </entry>
686 |     <entry file="file:///usr/local/include/ceres/problem.h">
687 |       <provider selected="true" editor-type-id="text-editor">
688 |         <state relative-caret-position="5221">
689 |           <caret line="227" column="18" selection-start-line="227" selection-start-column="18" selection-end-line="227" selection-end-column="18" />
690 |         </state>
691 |       </provider>
692 |     </entry>
693 |     <entry file="file://$PROJECT_DIR$/include/error_types.h">
694 |       <provider selected="true" editor-type-id="text-editor">
695 |         <state relative-caret-position="943">
696 |           <caret line="41" column="42" selection-start-line="41" selection-start-column="42" selection-end-line="41" selection-end-column="42" />
697 |         </state>
698 |       </provider>
699 |     </entry>
700 |     <entry file="file://$PROJECT_DIR$/config/config.yaml">
701 |       <provider selected="true" editor-type-id="text-editor">
702 |         <state relative-caret-position="299">
703 |           <caret line="13" column="26" selection-start-line="13" selection-start-column="26" selection-end-line="13" selection-end-column="26" />
704 |         </state>
705 |       </provider>
706 |     </entry>
707 |     <entry file="file://$PROJECT_DIR$/src/config.cc">
708 |       <provider selected="true" editor-type-id="text-editor">
709 |         <state>
710 |           <caret column="13" selection-start-column="13" selection-end-column="13" />
711 |         </state>
712 |       </provider>
713 |     </entry>
714 |     <entry file="file://$PROJECT_DIR$/src/camera_lidar_calibration.cc">
715 |       <provider selected="true" editor-type-id="text-editor">
716 |         <state relative-caret-position="1541">
717 |           <caret line="67" column="5" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
718 |           <folding>
719 |             <element signature="e#200#219#0" expanded="true" />
720 |           </folding>
721 |         </state>
722 |       </provider>
723 |     </entry>
724 |     <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
725 |       <provider selected="true" editor-type-id="text-editor">
726 |         <state relative-caret-position="644">
727 |           <caret line="28" column="26" selection-start-line="28" selection-start-column="26" selection-end-line="28" selection-end-column="26" />
728 |         </state>
729 |       </provider>
730 |     </entry>
731 | <<<<<<< HEAD
732 |     <entry file="file://$PROJECT_DIR$/data/laser_points" />
733 |     <entry file="file:///usr/local/include/ceres/problem.h">
734 | =======
735 |     <entry file="file://$PROJECT_DIR$/data/laser_points.txt">
736 |       <provider selected="true" editor-type-id="text-editor">
737 |         <state relative-caret-position="345">
738 |           <caret line="15" column="12" selection-start-line="15" selection-start-column="12" selection-end-line="15" selection-end-column="12" />
739 |         </state>
740 |       </provider>
741 |     </entry>
742 |     <entry file="file://$PROJECT_DIR$/data/data.txt">
743 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
744 |       <provider selected="true" editor-type-id="text-editor">
745 |         <state relative-caret-position="345">
746 |           <caret line="15" column="28" selection-start-line="15" selection-start-column="28" selection-end-line="15" selection-end-column="28" />
747 |         </state>
748 |       </provider>
749 |     </entry>
750 |     <entry file="file://$PROJECT_DIR$/data/image_points.txt">
751 |       <provider selected="true" editor-type-id="text-editor">
752 |         <state relative-caret-position="92">
753 |           <caret line="4" selection-start-line="4" selection-end-line="4" />
754 |         </state>
755 |       </provider>
756 |     </entry>
757 |     <entry file="file://$PROJECT_DIR$/src/corner_detecter.cc">
758 |       <provider selected="true" editor-type-id="text-editor">
759 |         <state relative-caret-position="1332">
760 |           <caret line="90" column="10" selection-start-line="90" selection-start-column="10" selection-end-line="90" selection-end-column="10" />
761 |         </state>
762 |       </provider>
763 |     </entry>
764 |     <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
765 |       <provider selected="true" editor-type-id="text-editor">
766 | <<<<<<< HEAD
767 |         <state relative-caret-position="1541">
768 |           <caret line="67" column="5" lean-forward="false" selection-start-line="67" selection-start-column="5" selection-end-line="67" selection-end-column="5" />
769 | =======
770 |         <state relative-caret-position="598">
771 |           <caret line="68" column="21" selection-start-line="68" selection-start-column="21" selection-end-line="68" selection-end-column="21" />
772 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
773 |           <folding>
774 |             <element signature="e#1#20#0" expanded="true" />
775 |           </folding>
776 |         </state>
777 |       </provider>
778 |     </entry>
779 | <<<<<<< HEAD
780 |     <entry file="file://$PROJECT_DIR$/src/reprojection.cc">
781 |       <provider selected="true" editor-type-id="text-editor">
782 |         <state relative-caret-position="0">
783 |           <caret line="17" column="27" lean-forward="false" selection-start-line="17" selection-start-column="27" selection-end-line="17" selection-end-column="27" />
784 |           <folding>
785 |             <element signature="e#1#20#0" expanded="true" />
786 |           </folding>
787 | =======
788 |     <entry file="file://$PROJECT_DIR$/results/rotation.gif">
789 |       <provider selected="true" editor-type-id="images" />
790 |     </entry>
791 |     <entry file="file://$PROJECT_DIR$/results/demo.gif">
792 |       <provider selected="true" editor-type-id="images" />
793 |     </entry>
794 |     <entry file="file://$PROJECT_DIR$/README.md">
795 |       <provider selected="true" editor-type-id="split-provider[text-editor;markdown-preview-editor]">
796 |         <state split_layout="SPLIT">
797 |           <first_editor relative-caret-position="92">
798 |             <caret line="4" column="25" lean-forward="true" selection-start-line="4" selection-start-column="25" selection-end-line="4" selection-end-column="25" />
799 |           </first_editor>
800 |           <second_editor />
801 | >>>>>>> dfc1707b1b49a93f3dcdef9430477ae1c2f71ceb
802 |         </state>
803 |       </provider>
804 |     </entry>
805 |     <entry file="file://$PROJECT_DIR$/results/demo.gif">
806 |       <provider selected="true" editor-type-id="images">
807 |         <state />
808 |       </provider>
809 |     </entry>
810 |     <entry file="file://$PROJECT_DIR$/README.md">
811 |       <provider selected="true" editor-type-id="split-provider[text-editor;markdown-preview-editor]">
812 |         <state split_layout="SPLIT">
813 |           <first_editor relative-caret-position="92">
814 |             <caret line="4" column="8" lean-forward="false" selection-start-line="4" selection-start-column="8" selection-end-line="4" selection-end-column="8" />
815 |             <folding />
816 |           </first_editor>
817 |           <second_editor />
818 |         </state>
819 |       </provider>
820 |       <provider editor-type-id="text-editor">
821 |         <state relative-caret-position="0">
822 |           <caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
823 |           <folding />
824 |         </state>
825 |       </provider>
826 |     </entry>
827 |   </component>
828 | </project>


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8)
 2 | project(camera_lidar_calibration)
 3 | 
 4 | set(CMAKE_CXX_STANDARD 11)
 5 | 
 6 | ## Test modele, if you do not have aruco, just comment these lines
 7 | 
 8 | set(ARUCO_PATH /usr/local)
 9 | SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake)
10 | SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
11 | 
12 | find_package(aruco REQUIRED )
13 | ## Test modele, if you do not have aruco, just comment these lines
14 | #SET(CMAKE_MODULE_PATH ${CMAKE_INSTALL_PREFIX}/lib/cmake/ )
15 | MESSAGE(${ARUCO_INCLUDE_DIRS} )
16 | ## Test modele, if you do not have aruco, just comment these lines
17 | 
18 | find_package(OpenCV 3.3 REQUIRED)
19 | find_package(Ceres REQUIRED)
20 | find_package(Eigen3 REQUIRED)
21 | ## Test modele, if you do not have aruco, just comment these lines
22 | 
23 | ## Test modele, if you do not have aruco, just comment these lines
24 | 
25 | INCLUDE(FindPkgConfig)
26 | 
27 | include_directories(
28 |         ${PROJECT_SOURCE_DIR}/include
29 |         ${PROJECT_SOURCE_DIR}
30 |         ${CERES_INCLUDE_DIRS}
31 |         ${OpenCV_INCLUDE_DIRS}
32 |         ${EIGEN3_INCLUDE_DIR}
33 |         ${ARUCO_INCLUDE_DIRS} ## Test modele, if you do not have aruco, just comment these lines
34 | )
35 | 
36 | set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
37 | 
38 | add_library(${PROJECT_NAME} SHARED
39 |         src/config.cc
40 |         )
41 | 
42 | LINK_DIRECTORIES(${CMAKE_BINARY_DIR}/res)
43 | 
44 | target_link_libraries(${PROJECT_NAME}
45 |         ${OpenCV_LIBS}
46 |         ${EIGEN3_LIBS}
47 |         ${CERES_LIBRARIES}
48 |         ${aruco_LIBS}
49 | #        ${ARUCO_LIBS}
50 |         )
51 | 
52 | add_executable(camera_laser_calibration src/camera_lidar_calibration.cc)
53 | target_link_libraries(camera_laser_calibration ${PROJECT_NAME})
54 | 
55 | add_executable(corner_detecter src/corner_detecter.cc)
56 | target_link_libraries(corner_detecter ${PROJECT_NAME})
57 | 
58 | add_executable(reprojection src/reprojection.cc)
59 | target_link_libraries(reprojection ${PROJECT_NAME})
60 | 
61 | add_executable(detect_plane_with_aruco src/detect_plane_with_aruco.cc)
62 | target_link_libraries(detect_plane_with_aruco ${PROJECT_NAME})
63 | 
64 | add_executable(camera_laser_calibration_v2 src/camera_lidar_calibration_v2.cc)
65 | target_link_libraries(camera_laser_calibration_v2 ${PROJECT_NAME})
66 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | ## Camera Lidar Calibration Tool.
 2 | 
 3 | ![building](http://progressed.io/bar/91?title=done) ![star](https://img.shields.io/badge/Star%20me-if%20it%20helps%20you%EF%BC%81-green.svg)
 4 | 
 5 | Author:xinliangzhong(xinliangzhong@foxmail.com)
 6 | 
 7 | ![demo0](results/rotation.gif)
 8 | 
 9 | ![demo](results/demo.gif)
10 | 
11 | ### 1.Description
12 | The package is used to calibrate a 2D LiDAR or laser range finder (LRF)
13 | with a monocular camera. Specficially, Hokuyo UTM-30LX have been suscessfully calibrated against a mono camera.
14 | 
15 | **But this approach is really a naive way, in a word, it just 3D-2D optimization problem.**
16 | **So we decide to develop the new approach to calibrate the extrinsic** 
17 | 
18 | ### 2.Prerequisites
19 | We have tested the library in 16.04, but it should be easy to compile in other platforms.
20 | 
21 | ##### OpenCV
22 | We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 2.4.3. Tested with OpenCV 3.3**.
23 | 
24 | ##### Eigen3
25 | Download and install instructions can be found at: http://eigen.tuxfamily.org. **Required at least 3.1.0**.
26 | 
27 | ##### Ceres
28 | Download and install instructions can be found at: http://www.ceres-solver.org/installation.html.
29 | 
30 | ### 3.How to build
31 | 
32 | ```
33 | mkdir build
34 | cd build
35 | cmake ..
36 | make
37 | ```
38 | 
39 | ### 4.How to Prepare the calibration data
40 | 
41 | We need the 3d points in laser coordination and the same points in the image.
42 | The 3D points (actually z=0) you can put in the ``data/laser_points.txt``;
43 | The 2D points in the image you can put in the ``data/image_points.txt``;
44 | We combine the data in data.txt with 4 cols which represents ``x y u v`` respectively.
45 | 
46 | **So how to fine the 3D-2D pairs correctly?**
47 | Here we provide a simple way:
48 | Suppose your laser in the horizontal plane, and we just need to measure the height of the laser.
49 | Actually the red point in the following picture is the flag that we tested in our setups.
50 | ![flag](results/flag.jpg)
51 | 
52 | For the ``x and y``, you can use the rviz (2D nav goal) tool to measure. The result will be show in the terminal.
53 | For the ``u and v`` in the image, we provide a simple tool to detect corners in the rectangle your mouse selected.
54 | and the data will automatically saved in ``data/image_points.txt``.
55 | ![corner_detect](results/corner_detect.gif)
56 | 
57 | ### 5.Key Algorithm
58 | 
59 | Actually it just a least square problem.
60 | 
61 | <img src="https://latex.codecogs.com/gif.latex?min\sum_{i}^{N}\left&space;\|&space;uv&space;-&space;K*T_{cl}*P_{l}&space;\right&space;\|_{2}" title="min\sum_{i}^{N}\left \| uv - K*T_{cl}*P_{l} \right \|_{2}" />
62 | 
63 | ### 6.Show the reprojection results
64 | ``Tcl: which takes a vector from laser to camera.``
65 | 
66 | ![reprojection](results/optimization_result.png)
67 | 
68 | ![reprojection](results/reprojection2.png)
69 | ### 7.Good luck to you!


--------------------------------------------------------------------------------
/config/config.yaml:
--------------------------------------------------------------------------------
 1 | %YAML:1.0
 2 | # Put you camera param here
 3 | working.dir: /home/m/work/camera_lidar_calibration/
 4 | images.dir: /home/m/work/camera_lidar_calibration/imgs
 5 | 
 6 | #fx: 404.5337017698929
 7 | #fy: 404.85030992930444
 8 | #cx: 296.69880599308635
 9 | #cy: 272.0502551058445
10 | #
11 | #k1: -0.3271935419835578
12 | #k2: 0.08485645915218631
13 | #p1: -0.0014120013052523182
14 | #p2: -0.0012464247545589473
15 | 
16 | fx: 410.741321520433
17 | fy: 410.84566299125754
18 | cx: 313.5588475730438
19 | cy: 245.18622490655093
20 | 
21 | k1: -0.35013485272786493
22 | k2: 0.10995463853987104
23 | p1: -0.0015536807659894778
24 | p2: 0.000746095343908784
25 | 
26 | 
27 | 
28 | 


--------------------------------------------------------------------------------
/config/config_logitech.yaml:
--------------------------------------------------------------------------------
 1 | %YAML:1.0
 2 | # Put you camera param here
 3 | working.dir: /home/m/work/camera_lidar_calibration/
 4 | images.dir: /home/m/work/camera_lidar_calibration/imgs
 5 | 
 6 | fx: 427.521169
 7 | fy: 432.063111
 8 | cx: 324.020518
 9 | cy: 269.937447
10 | 
11 | k1: -0.368916
12 | k2: 0.116858
13 | p1: 0.004707
14 | p2: -0.002324
15 | 
16 | width: 640
17 | height: 480
18 | 
19 | 
20 | 
21 | 


--------------------------------------------------------------------------------
/data/data.txt:
--------------------------------------------------------------------------------
 1 | 2.712 -2.958 312.596 301.265
 2 | 3.200 -2.412 239.083 301.228
 3 | 3.371 -2.383 224.351 300.087
 4 | 3.892 -1.435 111.387 298.426
 5 | 4.091 -1.448 102.396 295.183
 6 | 3.934 -1.856 150.463 295.506
 7 | 3.595 -2.448 219.262 295.506
 8 | 3.623 -2.706 237.624 294.143
 9 | 3.972 -2.177 178.607 293.038
10 | 4.402 -1.177 62.6532 292.229
11 | 4.474 -0.933 32.6626 293.128
12 | 4.580 -1.186 60.1791 291.182
13 | 4.492 -1.481 95.1689 290.294
14 | 4.535 -1.344 77.6233 291.148
15 | 1.547 -4.372 499.095 298.397
16 | 2.290 -4.001 412.204 294.389
17 | 2.731 -3.694 361.354 293.244
18 | 3.452 -1.685 153.21 302.061
19 | 3.364 -1.845 173.758 302.403
20 | 3.727 -1.156 78.7747 303.512
21 | 3.416 -1.852 172.298 302.494
22 | 3.662 -1.351 107.748 303.117
23 | 3.861 -1.465 113.14 300.369
24 | 3.957 -1.227 81.08 300.046
25 | 3.768 -1.679 140.554 300.057
26 | 3.649 -1.921 167.301 299.45
27 | 3.248 -2.539 245.384 299.306
28 | 2.073 -1.836 262.157 322.384
29 | 1.857 -2.065 309.37 324.373
30 | 1.618 -2.266 357.344 326.473
31 | 1.255 -2.519 427.51 329.462
32 | 0.972 -2.671 481.409 332.471
33 | 2.144 -0.809 96.2531 347.359
34 | 1.940 -1.258 192.859 342.322
35 | 1.799 -1.484 242.328 342.225
36 | 1.564 -1.751 303.396 342.643
37 | 1.358 -1.940 355.532 344.432
38 | 1.499 -2.103 354.14 336.253
39 | 1.195 -2.319 416.595 338.308
40 | 1.381 -2.369 395.463 332.084


--------------------------------------------------------------------------------
/data/data_v2.txt:
--------------------------------------------------------------------------------
  1 | 1.55455 -2.12014 0 2.15048 0.0943296 -0.218216 -0.971331
  2 | 1.56379 -2.11334 0 2.15048 0.0943296 -0.218216 -0.971331
  3 | 1.5718 -2.10489 0 2.15048 0.0943296 -0.218216 -0.971331
  4 | 1.58277 -2.10041 0 2.15048 0.0943296 -0.218216 -0.971331
  5 | 1.59192 -2.09349 0 2.15048 0.0943296 -0.218216 -0.971331
  6 | 1.60104 -2.08652 0 2.15048 0.0943296 -0.218216 -0.971331
  7 | 1.60646 -2.07477 0 2.15048 0.0943296 -0.218216 -0.971331
  8 | 1.60749 -2.0575 0 2.15048 0.0943296 -0.218216 -0.971331
  9 | 1.61645 -2.05046 0 2.15048 0.0943296 -0.218216 -0.971331
 10 | 1.62539 -2.04339 0 2.15048 0.0943296 -0.218216 -0.971331
 11 | 1.63366 -2.0355 0 2.15048 0.0943296 -0.218216 -0.971331
 12 | 1.64127 -2.0268 0 2.15048 0.0943296 -0.218216 -0.971331
 13 | 1.64946 -2.01884 0 2.15048 0.0943296 -0.218216 -0.971331
 14 | 1.65635 -2.00931 0 2.15048 0.0943296 -0.218216 -0.971331
 15 | 1.6651 -2.00206 0 2.15048 0.0943296 -0.218216 -0.971331
 16 | 1.67253 -1.99325 0 2.15048 0.0943296 -0.218216 -0.971331
 17 | 1.67992 -1.9844 0 2.15048 0.0943296 -0.218216 -0.971331
 18 | 1.68856 -1.97706 0 2.15048 0.0943296 -0.218216 -0.971331
 19 | 1.69391 -1.96588 0 2.15048 0.0943296 -0.218216 -0.971331
 20 | 1.70247 -1.95847 0 2.15048 0.0943296 -0.218216 -0.971331
 21 | 1.71034 -1.95027 0 2.15048 0.0943296 -0.218216 -0.971331
 22 | 1.7142 -1.93755 0 2.15048 0.0943296 -0.218216 -0.971331
 23 | 1.72264 -1.93005 0 2.15048 0.0943296 -0.218216 -0.971331
 24 | 1.73104 -1.92252 0 2.15048 0.0943296 -0.218216 -0.971331
 25 | 1.7374 -1.91272 0 2.15048 0.0943296 -0.218216 -0.971331
 26 | 1.74573 -1.90512 0 2.15048 0.0943296 -0.218216 -0.971331
 27 | 1.75334 -1.89675 0 2.15048 0.0943296 -0.218216 -0.971331
 28 | 1.75751 -1.8847 0 2.15048 0.0943296 -0.218216 -0.971331
 29 | 1.76709 -1.87847 0 2.15048 0.0943296 -0.218216 -0.971331
 30 | 1.77045 -1.86566 0 2.15048 0.0943296 -0.218216 -0.971331
 31 | 1.77857 -1.85792 0 2.15048 0.0943296 -0.218216 -0.971331
 32 | 1.78666 -1.85014 0 2.15048 0.0943296 -0.218216 -0.971331
 33 | 1.79472 -1.84233 0 2.15048 0.0943296 -0.218216 -0.971331
 34 | 1.80064 -1.83234 0 2.15048 0.0943296 -0.218216 -0.971331
 35 | 1.80439 -1.82021 0 2.15048 0.0943296 -0.218216 -0.971331
 36 | 1.81231 -1.81231 0 2.15048 0.0943296 -0.218216 -0.971331
 37 | 1.81949 -1.80369 0 2.15048 0.0943296 -0.218216 -0.971331
 38 | 1.82735 -1.79573 0 2.15048 0.0943296 -0.218216 -0.971331
 39 | 1.83517 -1.78774 0 2.15048 0.0943296 -0.218216 -0.971331
 40 | 1.84726 -1.78388 0 2.15048 0.0943296 -0.218216 -0.971331
 41 | 1.8507 -1.77166 0 2.15048 0.0943296 -0.218216 -0.971331
 42 | 1.85841 -1.76356 0 2.15048 0.0943296 -0.218216 -0.971331
 43 | 1.86609 -1.75544 0 2.15048 0.0943296 -0.218216 -0.971331
 44 | 1.87373 -1.74728 0 2.15048 0.0943296 -0.218216 -0.971331
 45 | 1.88501 -1.74248 0 2.15048 0.0943296 -0.218216 -0.971331
 46 | 1.88817 -1.73019 0 2.15048 0.0943296 -0.218216 -0.971331
 47 | 1.90014 -1.72597 0 2.15048 0.0943296 -0.218216 -0.971331
 48 | 1.90022 -1.71097 0 2.15048 0.0943296 -0.218216 -0.971331
 49 | 1.2793 -2.48391 0 2.0436 -0.695471 -0.0639804 -0.7157
 50 | 1.28966 -2.47742 0 2.0436 -0.695471 -0.0639804 -0.7157
 51 | 1.30139 -2.47354 0 2.0436 -0.695471 -0.0639804 -0.7157
 52 | 1.31123 -2.46607 0 2.0436 -0.695471 -0.0639804 -0.7157
 53 | 1.32198 -2.46033 0 2.0436 -0.695471 -0.0639804 -0.7157
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221 | 9.5786 -10.6381 0 2.07892 -0.704129 -0.0169926 -0.709869
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249 | 2.17097 -1.82166 0 2.3731 0.00425573 -0.000523289 -0.999991
250 | 2.17428 -1.80833 0 2.3731 0.00425573 -0.000523289 -0.999991
251 | 2.18138 -1.79819 0 2.3731 0.00425573 -0.000523289 -0.999991
252 | 2.18766 -1.78739 0 2.3731 0.00425573 -0.000523289 -0.999991
253 | 2.19699 -1.77909 0 2.3731 0.00425573 -0.000523289 -0.999991
254 | 2.20551 -1.77011 0 2.3731 0.00425573 -0.000523289 -0.999991
255 | 2.21322 -1.76047 0 2.3731 0.00425573 -0.000523289 -0.999991
256 | 2.22088 -1.7508 0 2.3731 0.00425573 -0.000523289 -0.999991
257 | 2.22692 -1.73986 0 2.3731 0.00425573 -0.000523289 -0.999991
258 | 2.23133 -1.72768 0 2.3731 0.00425573 -0.000523289 -0.999991
259 | 2.23488 -1.71488 0 2.3731 0.00425573 -0.000523289 -0.999991
260 | 2.24234 -1.70511 0 2.3731 0.00425573 -0.000523289 -0.999991
261 | 2.25135 -1.69652 0 2.3731 0.00425573 -0.000523289 -0.999991
262 | 2.26274 -1.68967 0 2.3731 0.00425573 -0.000523289 -0.999991
263 | 2.27331 -1.68216 0 2.3731 0.00425573 -0.000523289 -0.999991
264 | 2.2774 -1.66986 0 2.3731 0.00425573 -0.000523289 -0.999991
265 | 2.28466 -1.65991 0 2.3731 0.00425573 -0.000523289 -0.999991
266 | 2.28702 -1.64642 0 2.3731 0.00425573 -0.000523289 -0.999991
267 | 2.29906 -1.63991 0 2.3731 0.00425573 -0.000523289 -0.999991
268 | 2.30375 -1.62813 0 2.3731 0.00425573 -0.000523289 -0.999991
269 | 2.31574 -1.6215 0 2.3731 0.00425573 -0.000523289 -0.999991
270 | 


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/data/image00.png:
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https://raw.githubusercontent.com/TurtleZhong/camera_lidar_calibration/3645c09fe2ae80ab57a46fe77b29f40899fb8c17/data/image00.png


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/data/image_points.txt:
--------------------------------------------------------------------------------
1 | 312.596 301.265
2 | 239.083 301.228
3 | 224.351 300.087
4 | 111.387 298.426
5 | 


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/data/image_test.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/TurtleZhong/camera_lidar_calibration/3645c09fe2ae80ab57a46fe77b29f40899fb8c17/data/image_test.png


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/data/laser_points.txt:
--------------------------------------------------------------------------------
 1 | 2.712 -2.958
 2 | 3.200 -2.412
 3 | 3.371 -2.383
 4 | 3.892 -1.435
 5 | 4.091 -1.448
 6 | 3.934 -1.856
 7 | 3.595 -2.448
 8 | 3.623 -2.706
 9 | 3.972 -2.177
10 | 4.402 -1.177
11 | 4.474 -0.933
12 | 4.580 -1.186
13 | 4.492 -1.481
14 | 4.535 -1.344
15 | 1.547 -4.372
16 | 2.290 -4.001
17 | 2.731 -3.694
18 | 3.452 -1.685
19 | 3.364 -1.845
20 | 3.727 -1.156
21 | 3.416 -1.852
22 | 3.662 -1.351
23 | 3.861 -1.465
24 | 3.957 -1.227
25 | 3.768 -1.679
26 | 3.649 -1.921
27 | 3.248 -2.539
28 | 2.073 -1.836
29 | 1.857 -2.065
30 | 1.618 -2.266
31 | 1.255 -2.519
32 | 0.972 -2.671
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--------------------------------------------------------------------------------
/data/laser_test_points_v2.txt:
--------------------------------------------------------------------------------
 1 | 1.55455 -2.12014 0
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 3 | 1.5718 -2.10489 0
 4 | 1.58277 -2.10041 0
 5 | 1.59192 -2.09349 0
 6 | 1.60104 -2.08652 0
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10 | 1.62539 -2.04339 0
11 | 1.63366 -2.0355 0
12 | 1.64127 -2.0268 0
13 | 1.64946 -2.01884 0
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15 | 1.6651 -2.00206 0
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20 | 1.70247 -1.95847 0
21 | 1.71034 -1.95027 0
22 | 1.7142 -1.93755 0
23 | 1.72264 -1.93005 0
24 | 1.73104 -1.92252 0
25 | 1.7374 -1.91272 0
26 | 1.74573 -1.90512 0
27 | 1.75334 -1.89675 0
28 | 1.75751 -1.8847 0
29 | 1.76709 -1.87847 0
30 | 1.77045 -1.86566 0
31 | 1.77857 -1.85792 0
32 | 1.78666 -1.85014 0
33 | 1.79472 -1.84233 0
34 | 1.80064 -1.83234 0
35 | 1.80439 -1.82021 0
36 | 1.81231 -1.81231 0
37 | 1.81949 -1.80369 0
38 | 1.82735 -1.79573 0
39 | 1.83517 -1.78774 0
40 | 1.84726 -1.78388 0
41 | 1.8507 -1.77166 0
42 | 1.85841 -1.76356 0
43 | 1.86609 -1.75544 0
44 | 1.87373 -1.74728 0
45 | 1.88501 -1.74248 0
46 | 1.88817 -1.73019 0
47 | 1.90014 -1.72597 0
48 | 1.90022 -1.71097 0


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 1 | image00.png
 2 | image01.png
 3 | image02.png
 4 | image03.png
 5 | image04.png
 6 | image05.png
 7 | image06.png
 8 | image07.png
 9 | image08.png
10 | image09.png
11 | image10.png
12 | image11.png
13 | image12.png
14 | image13.png
15 | image14.png
16 | image15.png
17 | image16.png
18 | image17.png
19 | image18.png
20 | image19.png
21 | image20.png
22 | image21.png
23 | image22.png
24 | image23.png
25 | image24.png
26 | image25.png
27 | image26.png
28 | image27.png
29 | image28.png
30 | image29.png
31 | image30.png
32 | image31.png
33 | image32.png
34 | image33.png
35 | image34.png
36 | image35.png
37 | image36.png
38 | image37.png
39 | image38.png
40 | image39.png


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/include/config.h:
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 1 | //
 2 | // Created by m on 7/5/18.
 3 | //
 4 | 
 5 | #ifndef CAMERA_LIDAR_CALIBRATION_CONFIG_H
 6 | #define CAMERA_LIDAR_CALIBRATION_CONFIG_H
 7 | 
 8 | #include <iostream>
 9 | #include <opencv2/opencv.hpp>
10 | #include <memory>
11 | #include <vector>
12 | #include <list>
13 | #include <memory>
14 | #include <string>
15 | #include <iostream>
16 | #include <set>
17 | #include <unordered_map>
18 | #include <map>
19 | #include <stdint.h>
20 | 
21 | using namespace std;
22 | using namespace cv;
23 | 
24 | 
25 | class Config
26 | {
27 | private:
28 |     static std::shared_ptr<Config> config_;
29 |     cv::FileStorage file_;
30 | 
31 |     Config()
32 |     {}
33 | 
34 | public:
35 |     ~Config();
36 | 
37 |     /*set a new config file*/
38 |     static void setParameterFile(const std::string &filename);
39 | 
40 |     /*access the parameter values*/
41 |     template<typename T>
42 |     static T get(const std::string &key)
43 |     {
44 |         return T(Config::config_->file_[key]);
45 |     }
46 | };
47 | #endif //CAMERA_LIDAR_CALIBRATION_CONFIG_H
48 | 


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/include/error_types.h:
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 1 | /**
 2 |  *
 3 |  */
 4 | 
 5 | #ifndef BOARD_POSE_ERROR_TYPES_H
 6 | #define BOARD_POSE_ERROR_TYPES_H
 7 | 
 8 | #include <iostream>
 9 | #include <vector>
10 | #include <eigen3/Eigen/Core>
11 | #include <Eigen/Dense>
12 | #include <eigen3/Eigen/Geometry>
13 | #include <ceres/ceres.h>
14 | #include "config.h"
15 | 
16 | using namespace std;
17 | 
18 | 
19 | class ErrorTypes
20 | {
21 | public:
22 |     ErrorTypes(Eigen::Vector2d observation):observation_(observation){}
23 | 
24 |     template<typename T>
25 |     bool operator()(const T* const quaternion,
26 |                     const T* const translation,
27 |                     const T* const point,
28 |                     T* residuals)const{
29 | 
30 |         Eigen::Map<const Eigen::Quaternion<T>> q_cl(quaternion);
31 |         Eigen::Map<const Eigen::Matrix<T,3,1>> t_cl(translation);
32 | 
33 |         Eigen::Map<const Eigen::Matrix<T,3,1>> p_l(point);
34 |         Eigen::Matrix<T,3,1> p_c = q_cl*p_l + t_cl;
35 | 
36 |         /// Transform the pc to image_points.
37 |         T fx = Config::get<T>("fx");
38 |         T fy = Config::get<T>("fy");
39 |         T cx = Config::get<T>("cx");
40 |         T cy = Config::get<T>("cy");
41 | 
42 |         residuals[0] = T(fx * p_c(0,0) / p_c(2, 0) + cx - T(observation_(0)));
43 |         residuals[1] = T(fy * p_c(1,0) / p_c(2, 0) + cy - T(observation_(1)));
44 | 
45 |         return true;
46 |     }
47 | 
48 |     static ceres::CostFunction* Create(const Eigen::Vector2d observation){
49 |         return (new ceres::AutoDiffCostFunction<ErrorTypes,2,4,3,3>(
50 |                 new ErrorTypes(observation)));
51 |     }
52 |     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
53 | private:
54 |     Eigen::Vector2d observation_;
55 | };
56 | 
57 | 
58 | #endif //BOARD_POSE_ERROR_TYPES_H
59 | 


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/include/error_types_v2.h:
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 1 | 
 2 | #ifndef CAMERA_LIDAR_CALIBRATION_ERROR_TYPES_V2_H
 3 | #define CAMERA_LIDAR_CALIBRATION_ERROR_TYPES_V2_H
 4 | 
 5 | 
 6 | 
 7 | #include <iostream>
 8 | #include <vector>
 9 | #include <eigen3/Eigen/Core>
10 | #include <Eigen/Dense>
11 | #include <eigen3/Eigen/Geometry>
12 | #include <ceres/ceres.h>
13 | #include "config.h"
14 | 
15 | using namespace std;
16 | 
17 | 
18 | class ErrorTypes
19 | {
20 | public:
21 |     ErrorTypes(double observation):observation_(observation){}
22 | 
23 |     template<typename T>
24 |     bool operator()(const T* const quaternion,
25 |                     const T* const translation,
26 |                     const T* const point,
27 |                     const T* const normal,
28 |                     T* residuals)const{
29 | 
30 |         Eigen::Map<const Eigen::Quaternion<T>> q_cl(quaternion);
31 |         Eigen::Map<const Eigen::Matrix<T,3,1>> t_cl(translation);
32 | 
33 |         Eigen::Map<const Eigen::Matrix<T,3,1>> p_l(point);
34 |         Eigen::Matrix<T,3,1> p_c = q_cl*p_l + t_cl;
35 | 
36 |         Eigen::Map<const Eigen::Matrix<T,3,1>> normal_of_plane(normal);
37 | 
38 |         T depth = normal_of_plane.transpose() * p_c; /// depth < 0
39 |         residuals[0] = depth + T(observation_);
40 | 
41 |         return true;
42 |     }
43 | 
44 |     static ceres::CostFunction* Create(const double observation){
45 |         return (new ceres::AutoDiffCostFunction<ErrorTypes,1,4,3,3,3>(
46 |                 new ErrorTypes(observation)));
47 |     }
48 |     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 | private:
50 |     double observation_;
51 | };
52 | 
53 | 
54 | 
55 | 
56 | #endif //CAMERA_LIDAR_CALIBRATION_ERROR_TYPES_V2_H
57 | 


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/src/camera_lidar_calibration.cc:
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  1 | /**
  2 |  * This program used for calibrating cameras and 2D lidars.
  3 |  * data.txt format:
  4 |  * lidar point (x, y) undistort image points (u,v)
  5 |  *
  6 |  * Author: xinliangzhong@foxmail.com
  7 |  * Data: 2018.07.05
  8 |  */
  9 | 
 10 | #include <iostream>
 11 | #include <string>
 12 | #include <vector>
 13 | #include <fstream>
 14 | #include <eigen3/Eigen/Core>
 15 | #include <eigen3/Eigen/Geometry>
 16 | #include <ceres/ceres.h>
 17 | #include "error_types.h"
 18 | #include "config.h"
 19 | 
 20 | using namespace std;
 21 | using namespace Eigen;
 22 | using namespace ceres;
 23 | 
 24 | typedef vector<Eigen::Vector3d> Vector3dPoints;
 25 | typedef vector<Eigen::Vector2d> Vector2dPoints;
 26 | 
 27 | 
 28 | bool LoadData(const string &data_path, Vector3dPoints &laser_points, Vector2dPoints &image_points);
 29 | void BuildOptimizationProblem(Vector3dPoints &laser_points,
 30 |                               const Vector2dPoints &image_points,
 31 |                               Quaterniond &q,
 32 |                               Vector3d &t,
 33 |                               ceres::Problem* problem);
 34 | bool SolveOptimizationProblem(ceres::Problem* problem, bool show_the_solver_details = false);
 35 | 
 36 | int main()
 37 | {
 38 |     Config::setParameterFile("../config/config.yaml");
 39 | 
 40 |     /// Put your initial guess here. Tcl which take a vector from laser to camera.
 41 |     Matrix3d init_R = Matrix3d::Identity();
 42 |     Quaterniond init_q(init_R);
 43 | //    Vector3d init_t(-0.165,0.528,-0.045);
 44 |     Vector3d init_t(0.1,0.5, 0.1);
 45 |     ceres::Problem problem;
 46 |     Vector3dPoints laser_points;
 47 |     Vector2dPoints image_points;
 48 |     string data_path = Config::get<string>("working.dir") + "data/data.txt";
 49 |     cout << "data.path = " << data_path << endl;
 50 |     /**
 51 |      * Load data
 52 |      */
 53 |     cout << "Before Optimization\n" << "R = \n" << init_q.matrix() << "\nt = \n" << init_t.transpose() << endl;
 54 |     if(LoadData(data_path, laser_points, image_points))
 55 |     {
 56 |         cout << "Load data suscessfully!" << endl;
 57 | 
 58 |         /**
 59 |          * Optimizing
 60 |          */
 61 |         BuildOptimizationProblem(laser_points,image_points,init_q,init_t,&problem);
 62 |         SolveOptimizationProblem(&problem, true);
 63 | 
 64 |         cout << "After Optimization:\n";
 65 |         cout << "R = \n" << init_q.matrix() << endl;
 66 |         cout << "t = \n" << init_t.transpose() << endl;
 67 | 
 68 |     }
 69 | 
 70 |     return 0;
 71 | }
 72 | 
 73 | bool LoadData(const string &data_path, Vector3dPoints &laser_points, Vector2dPoints &image_points)
 74 | {
 75 |     if(data_path.empty())
 76 |         return false;
 77 |     ifstream in_file;
 78 |     in_file.open(data_path);
 79 |     while(in_file.good())
 80 |     {
 81 |         Vector3d laser_point;
 82 |         Vector2d image_point;
 83 |         in_file >> laser_point(0) >> laser_point(1) \
 84 |                 >> image_point(0) >> image_point(1);
 85 |         laser_point(2) = 0.;
 86 |         laser_points.push_back(laser_point);
 87 |         image_points.push_back(image_point);
 88 |         in_file.get();
 89 |     }
 90 |     in_file.close();
 91 |     return true;
 92 | }
 93 | 
 94 | void BuildOptimizationProblem(Vector3dPoints &laser_points,
 95 |                               const Vector2dPoints &image_points,
 96 |                               Quaterniond &q,
 97 |                               Vector3d &t,
 98 |                               ceres::Problem* problem)
 99 | {
100 |     ceres::LossFunction* loss_function = new ceres::HuberLoss(1.0);
101 |     ceres::LocalParameterization* quaternion_local_parameterization =
102 |             new EigenQuaternionParameterization;
103 | 
104 |     for (int i = 0; i < laser_points.size(); ++i)
105 |     {
106 |         ceres::CostFunction* cost_function =
107 |                 ErrorTypes::Create(image_points[i]);
108 |         problem->AddResidualBlock(cost_function,
109 |                                   loss_function,
110 |                                   q.coeffs().data(),
111 |                                   t.data(),
112 |                                   laser_points[i].data());
113 |         problem->SetParameterization(q.coeffs().data(),
114 |                                      quaternion_local_parameterization);
115 |     }
116 | 
117 |     for (int j = 0; j < laser_points.size(); ++j)
118 |     {
119 |         problem->SetParameterBlockConstant(laser_points[j].data());
120 |     }
121 | }
122 | 
123 | 
124 | bool SolveOptimizationProblem(ceres::Problem* problem, bool show_the_solver_details)
125 | {
126 | 
127 |     ceres::Solver::Options options;
128 |     options.max_num_iterations = 1000;
129 |     options.linear_solver_type = ceres::DENSE_QR;
130 | 
131 |     ceres::Solver::Summary summary;
132 |     ceres::Solve(options, problem, &summary);
133 |     if (show_the_solver_details)
134 |         std::cout << summary.FullReport() << '\n';
135 | 
136 |     return summary.IsSolutionUsable();
137 | }


--------------------------------------------------------------------------------
/src/camera_lidar_calibration_v2.cc:
--------------------------------------------------------------------------------
  1 | /**
  2 |  * This program used for calibrating cameras and 2D lidar.
  3 |  * *.txt format:
  4 |  * lidar point (x, y) depth (d) normal(a b c)
  5 |  *
  6 |  * Author: xinliangzhong@foxmail.com
  7 |  * Data: 2018.07.20
  8 |  */
  9 | 
 10 | #include <iostream>
 11 | #include <string>
 12 | #include <vector>
 13 | #include <fstream>
 14 | #include <eigen3/Eigen/Core>
 15 | #include <eigen3/Eigen/Geometry>
 16 | #include <ceres/ceres.h>
 17 | #include "error_types_v2.h"
 18 | #include "config.h"
 19 | 
 20 | using namespace std;
 21 | using namespace Eigen;
 22 | using namespace ceres;
 23 | 
 24 | typedef vector<Eigen::Vector3d> Vector3dPoints;
 25 | typedef vector<Eigen::Vector2d> Vector2dPoints;
 26 | typedef vector<Eigen::Vector3d> Vector3dNormals; /// normal(a b c)
 27 | typedef vector<double>          Vector1dDepths;  /// depth
 28 | 
 29 | 
 30 | bool LoadData(const string &data_path,
 31 |               Vector3dPoints &laser_points,
 32 |               Vector1dDepths &plane_depths,
 33 |               Vector3dNormals &plane_normals);
 34 | void BuildOptimizationProblem(Vector3dPoints &laser_points,
 35 |                               Vector3dNormals &plane_normals,
 36 |                               const Vector1dDepths &plane_depths,
 37 |                               Quaterniond &q,
 38 |                               Vector3d &t,
 39 |                               ceres::Problem* problem);
 40 | bool SolveOptimizationProblem(ceres::Problem* problem, bool show_the_solver_details = false);
 41 | 
 42 | int main()
 43 | {
 44 |     Config::setParameterFile("../config/config.yaml");
 45 | 
 46 |     /// Put your initial guess here. Tcl which take a vector from laser to camera.
 47 |     Matrix3d init_R;
 48 |     init_R << -0.675611 , -0.737083 , 0.0160854 ,-0.064347 , 0.0372179 , -0.997233, 0.734445 , -0.674776 ,-0.0725739;
 49 |     Quaterniond init_q(init_R);
 50 | //    cv::Mat Rcl = (Mat_<double>(3,3) <<    -0.675611 , -0.737083 , 0.0160854 ,-0.064347 , 0.0372179 , -0.997233, 0.734445 , -0.674776 ,-0.0725739);
 51 | //    cv::Mat tcl = (Mat_<double>(3,1) << -0.186222, 0.555921, -0.0547161);
 52 | //    Vector3d init_t(-0.165,0.528,-0.045);
 53 |     Vector3d init_t(-0.186222,0.555921, -0.0547161);
 54 |     ceres::Problem problem;
 55 |     Vector3dPoints laser_points;
 56 |     Vector3dNormals plane_normals;
 57 |     Vector1dDepths plane_depths;
 58 | 
 59 |     string data_path = Config::get<string>("working.dir") + "data/data_v2.txt";
 60 |     cout << "data.path = " << data_path << endl;
 61 |     /**
 62 |      * Load data
 63 |      */
 64 |     cout << "Before Optimization\n" << "R = \n" << init_q.matrix() << "\nt = \n" << init_t.transpose() << endl;
 65 |     if(LoadData(data_path, laser_points, plane_depths, plane_normals))
 66 |     {
 67 |         cout << "Load data suscessfully!" << endl;
 68 | 
 69 |         /**
 70 |          * Optimizing
 71 |          */
 72 |         BuildOptimizationProblem(laser_points,plane_normals, plane_depths, init_q,init_t,&problem);
 73 |         SolveOptimizationProblem(&problem, false);
 74 | 
 75 |         cout << "After Optimization:\n";
 76 |         cout << "R = \n" << init_q.matrix() << endl;
 77 |         cout << "t = \n" << init_t.transpose() << endl;
 78 | 
 79 |     }
 80 | 
 81 |     return 0;
 82 | }
 83 | 
 84 | bool LoadData(const string &data_path, Vector3dPoints &laser_points, Vector1dDepths &plane_depths, Vector3dNormals &plane_normals)
 85 | {
 86 |     if(data_path.empty())
 87 |         return false;
 88 |     ifstream in_file;
 89 |     in_file.open(data_path);
 90 |     while(in_file.good())
 91 |     {
 92 |         Vector3d laser_point;
 93 |         Vector3d plane_normal;
 94 |         double plane_depth;
 95 |         in_file >> laser_point(0) >> laser_point(1) >> laser_point(2) \
 96 |                 >> plane_depth \
 97 |                 >> plane_normal(0) >> plane_normal(1) >> plane_normal(2);
 98 |         laser_points.push_back(laser_point);
 99 |         plane_depths.push_back(plane_depth);
100 |         plane_normals.push_back(plane_normal);
101 |         in_file.get();
102 |     }
103 |     in_file.close();
104 |     return true;
105 | }
106 | 
107 | void BuildOptimizationProblem(Vector3dPoints &laser_points,
108 |                               Vector3dNormals &plane_normals,
109 |                               const Vector1dDepths &plane_depths,
110 |                               Quaterniond &q,
111 |                               Vector3d &t,
112 |                               ceres::Problem* problem)
113 | {
114 |     ceres::LossFunction* loss_function = new ceres::HuberLoss(1.0);
115 |     ceres::LocalParameterization* quaternion_local_parameterization =
116 |             new EigenQuaternionParameterization;
117 | 
118 |     for (int i = 0; i < laser_points.size(); ++i)
119 |     {
120 |         ceres::CostFunction* cost_function =
121 |                 ErrorTypes::Create(plane_depths[i]);
122 |         problem->AddResidualBlock(cost_function,
123 |                                   loss_function,
124 |                                   q.coeffs().data(),
125 |                                   t.data(),
126 |                                   laser_points[i].data(),
127 |                                   plane_normals[i].data());
128 |         problem->SetParameterization(q.coeffs().data(),
129 |                                      quaternion_local_parameterization);
130 |     }
131 | 
132 |     for (int j = 0; j < laser_points.size(); ++j)
133 |     {
134 |         problem->SetParameterBlockConstant(laser_points[j].data()); /// Do not optimize the laser points.
135 |         problem->SetParameterBlockConstant(plane_normals[j].data());/// Do not optimize the plane normals.
136 |     }
137 | //    problem->SetParameterBlockConstant(t.data());
138 | }
139 | 
140 | 
141 | bool SolveOptimizationProblem(ceres::Problem* problem, bool show_the_solver_details)
142 | {
143 | 
144 |     ceres::Solver::Options options;
145 |     options.max_num_iterations = 1000;
146 |     options.linear_solver_type = ceres::DENSE_QR;
147 | 
148 |     ceres::Solver::Summary summary;
149 |     ceres::Solve(options, problem, &summary);
150 |     if (show_the_solver_details)
151 |         std::cout << summary.FullReport() << '\n';
152 | 
153 |     return summary.IsSolutionUsable();
154 | }


--------------------------------------------------------------------------------
/src/config.cc:
--------------------------------------------------------------------------------
 1 | #include "config.h"
 2 | 
 3 | void Config::setParameterFile(const string &filename)
 4 | {
 5 |     if( config_ == nullptr )
 6 |     {
 7 |         config_ = shared_ptr<Config> (new Config);
 8 |         config_->file_ = cv::FileStorage(filename.c_str(), cv::FileStorage::READ);
 9 |         if( config_->file_.isOpened() == false )
10 |         {
11 |             std::cerr << "parameter file " << filename << " does not exist.." << std::endl;
12 |             config_->file_.release();
13 |             return;
14 |         }
15 |     }
16 | 
17 | }
18 | 
19 | Config::~Config()
20 | {
21 |     if( file_.isOpened() )
22 |     {
23 |         file_.release();
24 |     }
25 | }
26 | 
27 | shared_ptr<Config> Config::config_ = nullptr;


--------------------------------------------------------------------------------
/src/corner_detecter.cc:
--------------------------------------------------------------------------------
  1 | /**
  2 |  * This program used for detect 1 corner (subpixel) in the image
  3 |  * Input: config/config.yaml imgs/image_lists.txt
  4 |  * Output: data/image_points.txt
  5 |  * Author: xinliangzhong@foxmail.com
  6 |  * Data: 2018.07.05
  7 |  * Note: Remember to undistort the image.
  8 |  */
  9 | 
 10 | #include <config.h>
 11 | #include <opencv2/opencv.hpp>
 12 | #include <fstream>
 13 | #include <sstream>
 14 | 
 15 | using namespace std;
 16 | using namespace cv;
 17 | 
 18 | 
 19 | cv::Mat org,img,tmp;
 20 | ofstream outFile;
 21 | Point2f keypoint;
 22 | 
 23 | void cornerDetect(const cv::Mat &img, const Point &left_up, const Point &right_down)
 24 | {
 25 |     /// Create Mask
 26 |     Mat image = img.clone();
 27 |     cvtColor(image, image, COLOR_BGR2GRAY);
 28 |     Mat mask(image.rows, image.cols, CV_8U, Scalar(0));
 29 |     Mat detect_roi = image.rowRange(left_up.y, right_down.y).colRange(left_up.x, right_down.x);
 30 |     detect_roi.copyTo(mask.rowRange(left_up.y, right_down.y).colRange(left_up.x, right_down.x));
 31 | 
 32 |     /// Shi-Tomasi
 33 |     vector<Point2f> corners;
 34 |     double qualityLevel = 0.01;
 35 |     double minDistance = 10;
 36 |     int blockSize = 3;
 37 |     bool useHarrisDetector = false;
 38 |     double k = 0.04;
 39 |     int maxCorners = 1;
 40 | 
 41 |     goodFeaturesToTrack( image,
 42 |                          corners,
 43 |                          maxCorners,
 44 |                          qualityLevel,
 45 |                          minDistance,
 46 |                          mask,
 47 |                          blockSize,
 48 |                          useHarrisDetector,
 49 |                          k );
 50 | 
 51 |     /// subpixel
 52 |     Size winSize = Size( 3, 3 );
 53 |     Size zeroZone = Size( -1, -1 );
 54 |     TermCriteria criteria = TermCriteria(
 55 |             CV_TERMCRIT_EPS + CV_TERMCRIT_ITER,
 56 |             40, //maxCount=40
 57 |             0.001 );  //epsilon=0.001
 58 |     cornerSubPix( image, corners, winSize, zeroZone, criteria );
 59 | 
 60 |     cvtColor(image, image, COLOR_GRAY2BGR);
 61 | 
 62 |     circle( image, corners[0], 1, Scalar(0,0,255), -1, 8, 0 );
 63 |     imshow("corner", image);
 64 |     cout << "corners: " << corners[0].x << " " << corners[0].y << endl;
 65 |     keypoint = corners[0];
 66 | }
 67 | 
 68 | 
 69 | void on_mouse(int event,int x,int y,int flags,void *ustc)
 70 | {
 71 |     static Point pre_pt(-1,-1);
 72 |     static Point cur_pt(-1,-1);
 73 |     char temp[16];
 74 |     if (event == CV_EVENT_LBUTTONDOWN)
 75 |     {
 76 |         org.copyTo(img);
 77 |         sprintf(temp,"(%d,%d)",x,y);
 78 |         pre_pt = Point(x,y);
 79 |         putText(img,temp,pre_pt,FONT_HERSHEY_SIMPLEX,0.5,Scalar(0,0,0,255),1,8);
 80 |         circle(img,pre_pt,2,Scalar(255,0,0),CV_FILLED,CV_AA,0);
 81 |         imshow("img",img);
 82 |     }
 83 |     else if (event == CV_EVENT_MOUSEMOVE && !(flags & CV_EVENT_FLAG_LBUTTON))
 84 |     {
 85 |         img.copyTo(tmp);
 86 |         sprintf(temp,"(%d,%d)",x,y);
 87 |         cur_pt = Point(x,y);
 88 |         putText(tmp,temp,cur_pt,FONT_HERSHEY_SIMPLEX,0.5,Scalar(0,0,255));
 89 |         imshow("img",tmp);
 90 |     }
 91 |     else if (event == CV_EVENT_MOUSEMOVE && (flags & CV_EVENT_FLAG_LBUTTON))
 92 |     {
 93 |         img.copyTo(tmp);
 94 |         sprintf(temp,"(%d,%d)",x,y);
 95 |         cur_pt = Point(x,y);
 96 |         putText(tmp,temp,cur_pt,FONT_HERSHEY_SIMPLEX,0.5,Scalar(0,0,255));
 97 |         rectangle(tmp,pre_pt,cur_pt,Scalar(255,0,0),1,8,0);
 98 |         imshow("img",tmp);
 99 |     }
100 |     else if (event == CV_EVENT_LBUTTONUP)
101 |     {
102 |         org.copyTo(img);
103 |         sprintf(temp,"(%d,%d)",x,y);
104 |         cur_pt = Point(x,y);
105 |         putText(img,temp,cur_pt,FONT_HERSHEY_SIMPLEX,0.5,Scalar(0,0,255));
106 |         circle(img,pre_pt,2,Scalar(255,0,0),CV_FILLED,CV_AA,0);
107 |         rectangle(img,pre_pt,cur_pt,Scalar(255,0,0),1,8,0);
108 |         imshow("img",img);
109 |         /// Corner detector
110 |         cornerDetect(org, pre_pt, cur_pt);
111 |     }
112 | }
113 | 
114 | 
115 | int main()
116 | {
117 |     Config::setParameterFile("/home/m/work/camera_lidar_calibration/config/config.yaml");
118 |     string work_dir = Config::get<string>("working.dir");
119 |     outFile.open(work_dir + "data/image_points.txt");
120 | 
121 |     /// Load images
122 |     string images_dir = Config::get<string>("images.dir");
123 |     string image_path = images_dir + "/image_lists.txt";
124 |     vector<string> image_paths;
125 |     ifstream inFile;
126 |     inFile.open(image_path);
127 |     while (inFile.good())
128 |     {
129 |         string image_name;
130 |         inFile >> image_name;
131 |         string img_path = images_dir + "/" + image_name;
132 |         image_paths.push_back(img_path);
133 |         inFile.get();
134 |     }
135 | 
136 |     /// Corner detect
137 |     double fx = Config::get<double>("fx");
138 |     double fy = Config::get<double>("fy");
139 |     double cx = Config::get<double>("cx");
140 |     double cy = Config::get<double>("cy");
141 | 
142 |     double k1 = Config::get<double>("k1");
143 |     double k2 = Config::get<double>("k2");
144 |     double p1 = Config::get<double>("p1");
145 |     double p2 = Config::get<double>("p2");
146 | 
147 |     cv::Mat K = (Mat_<double>(3, 3) << fx, 0., cx, 0., fy, cy, 0., 0., 1.);
148 |     cv::Mat D = (Mat_<double>(5,1) << k1, k2, p1, p2, 0.0);
149 |     cout << "K:\n" << K << endl;
150 |     cout << "D:\n" << D << endl;
151 | 
152 |     cout << "We need to process " << image_paths.size() << " images" << endl;
153 |     for (int i = 0; i < image_paths.size(); ++i)
154 |     {
155 | 
156 |         cout << "Processing images: " << i << endl;
157 |         /// TO DO: Undistort the image
158 |         org = imread(image_paths[i]);
159 | 
160 |         cv::undistort(org,img,K,D);
161 |         org = img.clone();
162 | //        org.copyTo(img);
163 |         org.copyTo(tmp);
164 |         namedWindow("img");
165 |         setMouseCallback("img",on_mouse,0);
166 |         imshow("img",img);
167 |         cv::waitKey(0);
168 |         destroyWindow("corner");
169 |         outFile << keypoint.x << " " << keypoint.y << endl;
170 |         cout << "Save " << i << " keypoint suscessfully" << endl;
171 |     }
172 |     outFile.close();
173 |     cout << "Save the sequence suscessfully" << endl;
174 |     cout << "The output file saved in: " << work_dir + "data/image_points.txt" << endl;
175 | 
176 |     return 0;
177 | 
178 | }
179 | 
180 | 


--------------------------------------------------------------------------------
/src/detect_plane_with_aruco.cc:
--------------------------------------------------------------------------------
  1 | #include <iostream>
  2 | #include <fstream>
  3 | #include <vector>
  4 | #include <opencv2/opencv.hpp>
  5 | #include <aruco/aruco.h>
  6 | 
  7 | #include <Eigen/Core>
  8 | #include <Eigen/Geometry>
  9 | #include <Eigen/Dense>
 10 | 
 11 | #include "config.h"
 12 | 
 13 | using namespace std;
 14 | using namespace cv;
 15 | using namespace Eigen;
 16 | 
 17 | using namespace aruco;
 18 | 
 19 | 
 20 | std::pair<Vector3d, Vector3d> best_plane_from_points(const std::vector<Vector3d> & c)
 21 | {
 22 |     // copy coordinates to  matrix in Eigen format
 23 |     size_t num_atoms = c.size();
 24 |     Eigen::Matrix< Vector3d::Scalar, Eigen::Dynamic, Eigen::Dynamic > coord(3, num_atoms);
 25 |     for (size_t i = 0; i < num_atoms; ++i) coord.col(i) = c[i];
 26 | 
 27 |     // calculate centroid
 28 |     Vector3d centroid(coord.row(0).mean(), coord.row(1).mean(), coord.row(2).mean());
 29 | 
 30 |     // subtract centroid
 31 |     coord.row(0).array() -= centroid(0); coord.row(1).array() -= centroid(1); coord.row(2).array() -= centroid(2);
 32 | 
 33 |     // we only need the left-singular matrix here
 34 |     auto svd = coord.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV);
 35 |     Vector3d plane_normal = svd.matrixU().rightCols<1>();
 36 | 
 37 |     if(plane_normal(2) >0.)
 38 |         plane_normal = -1.0*plane_normal;
 39 |     cout << "depth = " << centroid.transpose() * plane_normal << endl;
 40 |     cout << "normal = \n" << plane_normal << endl;
 41 |     cout << "centor = \n" << centroid << endl;
 42 |     return std::make_pair(centroid, plane_normal);
 43 | }
 44 | 
 45 | //template<class Vector3>
 46 | std::pair < Vector3d, Vector3d > best_line_from_points(const std::vector<Vector3d> & c)
 47 | {
 48 |     // copy coordinates to  matrix in Eigen format
 49 |     size_t num_atoms = c.size();
 50 |     Eigen::Matrix< Vector3d::Scalar, Eigen::Dynamic, Eigen::Dynamic > centers(num_atoms, 3);
 51 |     for (size_t i = 0; i < num_atoms; ++i) centers.row(i) = c[i];
 52 | 
 53 |     Vector3d origin = centers.colwise().mean();
 54 |     Eigen::MatrixXd centered = centers.rowwise() - origin.transpose();
 55 |     Eigen::MatrixXd cov = centered.adjoint() * centered;
 56 |     Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> eig(cov);
 57 |     Vector3d axis = eig.eigenvectors().col(2).normalized();
 58 | 
 59 |     return std::make_pair(origin, axis);
 60 | }
 61 | 
 62 | 
 63 | 
 64 | int main()
 65 | {
 66 |     Config::setParameterFile("/home/m/work/camera_lidar_calibration/config/config_logitech.yaml");
 67 | 
 68 |     /// Load camera parameters
 69 |     double fx = Config::get<double>("fx");
 70 |     double fy = Config::get<double>("fy");
 71 |     double cx = Config::get<double>("cx");
 72 |     double cy = Config::get<double>("cy");
 73 | 
 74 |     double k1 = Config::get<double>("k1");
 75 |     double k2 = Config::get<double>("k2");
 76 |     double p1 = Config::get<double>("p1");
 77 |     double p2 = Config::get<double>("p2");
 78 | 
 79 |     int width = Config::get<int>("width");
 80 |     int height = Config::get<int>("height");
 81 | 
 82 |     Size imgSize(width, height);
 83 | 
 84 |     cv::Mat K = (Mat_<double>(3, 3) << fx, 0., cx, 0., fy, cy, 0., 0., 1.);
 85 |     cv::Mat D = (Mat_<double>(4,1) << k1, k2, p1, p2);
 86 |     cout << "K:\n" << K << endl;
 87 |     cout << "D:\n" << D << endl;
 88 | 
 89 |     /// Video capture
 90 |     VideoCapture video(0);
 91 |     if(!video.isOpened())
 92 |     {
 93 |         cout << "Can not open the capture, Please check.";
 94 |         return -1;
 95 |     }
 96 | 
 97 |     aruco::Dictionary dict;
 98 |     bool is_calc_plane = false;
 99 | 
100 |     vector<Eigen::Vector3d> points;
101 | 
102 |     std::pair<Eigen::Vector3d, Eigen::Vector3d> plane_centor_normal;
103 | 
104 |     while (1)
105 |     {
106 |         Mat frame;
107 |         video >> frame;
108 | 
109 |         /// undistort the frame
110 |         aruco::CameraParameters camParam(K, D, imgSize);
111 |         aruco::MarkerDetector mDetector;
112 |         mDetector.setCornerRefinementMethod(aruco::MarkerDetector::SUBPIX);
113 | 
114 |         vector<aruco::Marker> Markers;
115 |         mDetector.setDictionary(aruco::Dictionary::ARUCO_MIP_36h12);
116 | 
117 |         mDetector.detect(frame, Markers, camParam, 0.0385);
118 | //        mDetector.detect(frame, Markers, camParam, 0.088);
119 | 
120 | 
121 |         if(Markers.size() > 10)
122 |             is_calc_plane = true;
123 |         else
124 |             is_calc_plane = false;
125 | 
126 | 
127 |         if(is_calc_plane)
128 |         {
129 |             points.clear();
130 |             for (int i = 0; i < Markers.size(); ++i)
131 |             {
132 |                 Markers[i].draw(frame, Scalar(0,0,255), 1);
133 |                 aruco::CvDrawingUtils::draw3dCube(frame, Markers[i], camParam);
134 |                 aruco::CvDrawingUtils::draw3dAxis(frame, Markers[i], camParam);
135 | 
136 |                 points.push_back(Vector3d((double)Markers[i].Tvec.at<float>(0,0), (double)Markers[i].Tvec.at<float>(1,0), (double)Markers[i].Tvec.at<float>(2,0)));
137 | 
138 |             }
139 | 
140 |             plane_centor_normal = best_plane_from_points(points);
141 | 
142 |             Vector3d &normal = plane_centor_normal.second;
143 |             if(normal(2) >0.)
144 |                 normal = -1.0*normal;
145 | 
146 | //            cout << "centor is: \n" << plane_centor_normal.first << endl;
147 | //            cout << "normal is: \n" << plane_centor_normal.second << endl;
148 | 
149 | 
150 | 
151 |         }
152 | 
153 | 
154 |         imshow("frame", frame);
155 |         waitKey(10);
156 |     }
157 | 
158 |     return 0;
159 | }


--------------------------------------------------------------------------------
/src/reprojection.cc:
--------------------------------------------------------------------------------
  1 | 
  2 | #include <iostream>
  3 | #include <fstream>
  4 | #include <vector>
  5 | #include <opencv2/opencv.hpp>
  6 | 
  7 | #include "config.h"
  8 | 
  9 | using namespace std;
 10 | using namespace cv;
 11 | 
 12 | 
 13 | int main()
 14 | {
 15 |     Config::setParameterFile("/home/m/work/camera_lidar_calibration/config/config.yaml");
 16 |     /// load points
 17 |     string working_dir = Config::get<string>("working.dir");
 18 |     string points_test_path = working_dir + "data/laser_test_points_v2.txt";
 19 |     ifstream inFile;
 20 |     inFile.open(points_test_path);
 21 |     vector<cv::Mat> laser_points;
 22 |     while (inFile.good())
 23 |     {
 24 |         Mat laser_point(3,1, CV_64FC1);
 25 |         inFile >> laser_point.at<double>(0, 0) >> laser_point.at<double>(1, 0) >> laser_point.at<double>(2, 0);
 26 |         laser_points.push_back(laser_point);
 27 |     }
 28 |     inFile.close();
 29 | 
 30 | //    Mat laser_point = (Mat_<double>(3,1) << 2.712, -2.958, 0);
 31 | //    laser_points.push_back(laser_point);
 32 | 
 33 | 
 34 |     cout <<  "laser_points.size()= " << laser_points.size() << endl;
 35 | 
 36 |     Mat org = imread(working_dir+"data/image_test.png");
 37 | 
 38 |     double fx = Config::get<double>("fx");
 39 |     double fy = Config::get<double>("fy");
 40 |     double cx = Config::get<double>("cx");
 41 |     double cy = Config::get<double>("cy");
 42 | 
 43 |     double k1 = Config::get<double>("k1");
 44 |     double k2 = Config::get<double>("k2");
 45 |     double p1 = Config::get<double>("p1");
 46 |     double p2 = Config::get<double>("p2");
 47 | 
 48 |     cv::Mat K = (Mat_<double>(3, 3) << fx, 0., cx, 0., fy, cy, 0., 0., 1.);
 49 |     cv::Mat D = (Mat_<double>(5,1) << k1, k2, p1, p2, 0.0);
 50 |     cout << "K:\n" << K << endl;
 51 |     cout << "D:\n" << D << endl;
 52 | 
 53 | //    cv::Mat Rcl = (Mat_<double>(3,3) <<    -0.675611 , -0.737083 , 0.0160854 ,-0.064347 , 0.0372179 , -0.997233, 0.734445 , -0.674776 ,-0.0725739);
 54 |     cv::Mat tcl = (Mat_<double>(3,1) << -0.186222, 0.555921, -0.0547161);
 55 | 
 56 |     cv::Mat Rcl = (Mat_<double>(3,3) << -0.677934,-0.680351,0.278436,-0.491677,0.138072,-0.859761,0.546495,-0.719763,-0.428116);
 57 | //    cv::Mat tcl = (Mat_<double>(3,1) << -7.48245,3.70991,0.653848);
 58 | 
 59 |     cout << "R:\n" << Rcl << endl << "tcl:\n" << tcl << endl;
 60 | 
 61 | 
 62 |     Mat image;
 63 |     cv::undistort(org,image,K,D);
 64 | 
 65 |     vector<Point2d> pts_uv;
 66 |     for (int i = 0; i < laser_points.size(); ++i)
 67 |     {
 68 |         /// Reprojection
 69 | 
 70 |         Mat point_c = Rcl * laser_points[i] + tcl;
 71 |         if(point_c.at<double>(2,0) <= 0.)
 72 |             continue;
 73 |         cout << point_c.at<double>(0,0) << " " << point_c.at<double>(1,0) << " " << point_c.at<double>(2,0) << endl;
 74 |         point_c.at<double>(0,0) /=  point_c.at<double>(2,0);
 75 |         point_c.at<double>(1,0) /=  point_c.at<double>(2,0);
 76 |         point_c.at<double>(2,0) = 1.0;
 77 | 
 78 |         cout << point_c.at<double>(0,0) << " " << point_c.at<double>(1,0) << " " << point_c.at<double>(2,0) << endl;
 79 | 
 80 |         Mat uv = K * point_c;
 81 |         Point2d pt_uv(uv.at<double>(0,0), uv.at<double>(1,0));
 82 |         pts_uv.push_back(pt_uv);
 83 | 
 84 |     }
 85 | //    cvtColor(image,image,COLOR_GRAY2BGR);
 86 |     cout <<  "pts_uv.size()= " << pts_uv.size() << endl;
 87 |     ///Draw points in images
 88 |     for (int j = 0; j < pts_uv.size(); ++j) {
 89 |         cv::circle(image, pts_uv[j], 1, Scalar(0,0,255), -1);
 90 |         cout << pts_uv[j].x << " " << pts_uv[j].y << endl;
 91 |     }
 92 | 
 93 |     /// Show
 94 |     cv::imshow("image_with_laser_points", image);
 95 |     cv::waitKey(0);
 96 | 
 97 | 
 98 | 
 99 | }
100 | 
101 | 


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