Motion Based Multi-Sensor Extrinsic Calibration
These python scripts support multi-sensor extrinsic calibration using only odmetry/motion infomation. The main feature is a non-linear least squares optimization based on Gauss-Helmert framework, as described in the following papers:
Kaihong Huang and Cyrill Stachniss,
Extrinsic Multi-Sensor Calibration For Mobile Robots Using the Gauss-Helmert Model,
In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017
To run the script, you need to install cppad (and its python wrapper pycppad ) for automatic differentiation.
Installing cppad and pycppad###
First install cppad. For Ubuntu 16.04 users,
sudo apt-get install cppad
For Ubuntu 14.04, complie and install it from source code
git clone https://github.com/coin-or/CppAD.git
cd CppAD/
mkdir build && cd build
cmake ..
sudo make install
Next is pycppad
git clone https://github.com/b45ch1/pycppad.git
cd pycppad/
gedit setup.py
change cppad_include_dir to ['/usr/include'] in the file setup.py then
python setup.py build_ext --inplace --debug --undef NDEBUG
pip install .
python ./test_example.py
How to use
Please check demo_and_test function in calibration.py file for example usage.