# laser-odom_calibration
## 1. Prerequisites
1. ubuntu 16.04 + ROS Kinetic
2. Eigen3
## 2. Usage
```
cd catkin_ws/src
git clone https://github.com/MegviiRobot/OdomLaserCalibraTool
cd ..
catkin_make
source devel/setup.bash
roslaunch example.launch
```
__INPUT:__
A rosbag includes laser scan and odometer data(left & right wheels' velocity). Please check the topic name with launch file.
*Note that we use rostopic type geometry_msgs::Vector3Stamped to record odometer's raw data, for other types please modify the [code](https://github.com/MegviiRobot/OdomLaserCalibraTool/blob/master/src/io.cpp#L72).
__OUTPUT:__
Extrinsic parameters between LiDAR and odomter(x, y, yaw), intrinsic paramters of odomter(left & right wheels' radius, track between two wheels) and related uncertainty analysis.
e.g.
<img src="https://github.com/MegviiRobot/OdomLaserCalibraTool/blob/master/result.png" alt="result" />
## 3. Authors
1. Zhijie WANG, Research Intern at Megvii, will graduate from Beijing University of Posts & Telecommunications with a bachelor degree in July 2019, contact with (paul dot wangzhijie at outlook dot com).
2. Yijia HE, you can find the chinese version [in his homepage](https://blog.csdn.net/heyijia0327/article/details/88571176), if you have any question, please contact (heyijia_2013 at 163 dot com)
3. Xiao Liu, [his homepage](http://www.liuxiao.org/)
## 4. References
Censi, Andrea, Franchi, Antonio, Marchionni, Luca & Oriolo, Giuseppe (2013). Simultaneous calibration of odometry and sensor parameters for mobile robots. IEEE Transactions on Robotics, 29, 475-492.
Odom和2d激光器的外部校准___下载.zip
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2023-04-19
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Odom和2d激光器的外部校准___下载.zip （100个子文件） 
test_json.c 696B cmake_install.cmake 1KB solver.cpp 22KB verifier.cpp 15KB options.cpp 11KB gpc.cpp 10KB icp_loop.cpp 10KB solver2_meat.cpp 10KB synchronizer.cpp 9KB solver.cpp 9KB aux_functions.cpp 8KB solver_utils.cpp 8KB solver2.cpp 8KB egsl.cpp 8KB laser_data.cpp 7KB math_utils.cpp 7KB icp_corr_tricks.cpp 7KB icp_outliers.cpp 6KB icp.cpp 6KB scan_match.cpp 5KB sm.cpp 5KB orientation.cpp 5KB io_test.cpp 4KB analyzer.cpp 4KB gpc_utils.cpp 4KB calib_tuple.cpp 4KB sm_options.cpp 4KB egsl_ops.cpp 4KB synchronizer.cpp 4KB icp_covariance.cpp 4KB io.cpp 3KB icp_corr_dumb.cpp 3KB logging.cpp 3KB math_utils_gsl.cpp 3KB options_interface.cpp 2KB utils.cpp 2KB gsl_jacobian.cpp 2KB verifier_utils.cpp 2KB egsl_conversions.cpp 1KB icp_debug.cpp 1KB egsl_misc.cpp 1KB synchronizer_options.cpp 1KB solver_options.cpp 1KB clustering.cpp 872B verifier_options.cpp 705B gsl_jacobian_test.cpp 574B utils.cpp 300B main.cpp 219B .gitignore 7B laser_data.h 5KB algos.h 5KB aux_functions.h 4KB options.h 3KB solver_utils.h 3KB math_utils.h 3KB analyzer.h 3KB io.h 2KB egsl.h 2KB scan_match.h 2KB icp.h 2KB gsl_eigen.h 2KB laser_data_yogo.h 2KB solver.h 1KB calib_tuple.h 1KB synchronizer_options.h 1KB verifier_utils.h 1KB synchronizer.h 1KB laser_data_inline.h 1KB math_utils_gsl.h 1KB gpc.h 1KB gpc_utils.h 1KB egsl_macros.h 992B utils.h 915B sm_config.h 913B solver_options.h 809B utils.h 803B verifier_options.h 737B restrict.h 606B logging.h 515B csm_all.h 254B gsl_jacobian.h 230B sm_options.h 162B egsl_imp.h 144B csm.h 84B laser-odom_calibration.iml 97B example.launch 400B laserazosSM3.log 1.61MB Makefile 20KB README.md 2KB
document.pdf 578KB
result.png 247KB
CMakeCache.txt 14KB CMakeLists.txt 6KB CMakeLists.txt 2KB workspace.xml 54KB package.xml 3KB Project.xml 2KB modules.xml 296B misc.xml 240B vcs.xml 180B共 100 条
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