From e5df8e3d36569465b9a5e7d4c74a292ee2077bad Mon Sep 17 00:00:00 2001 From: Rooholla-KhorramBakht Date: Wed, 8 May 2024 21:38:15 -0400 Subject: [PATCH] calibration diagram added --- docs/assets/lidar-camera-extrinsics.drawio | 60 +++++++++++++++++++ .../assets/lidar-camera-extrinsics.drawio.png | 3 + docs/utlidar-camera-calib.md | 8 +++ 3 files changed, 71 insertions(+) create mode 100644 docs/assets/lidar-camera-extrinsics.drawio create mode 100644 docs/assets/lidar-camera-extrinsics.drawio.png diff --git a/docs/assets/lidar-camera-extrinsics.drawio b/docs/assets/lidar-camera-extrinsics.drawio new file mode 100644 index 0000000..f047949 --- /dev/null +++ b/docs/assets/lidar-camera-extrinsics.drawio @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/assets/lidar-camera-extrinsics.drawio.png b/docs/assets/lidar-camera-extrinsics.drawio.png new file mode 100644 index 0000000..8fd6a4d --- /dev/null +++ b/docs/assets/lidar-camera-extrinsics.drawio.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e40e27edbf026bda193f192a44f83cdf7bbfa811a5d5d55262b298f397d2d886 +size 910235 diff --git a/docs/utlidar-camera-calib.md b/docs/utlidar-camera-calib.md index afc0acd..4abd976 100644 --- a/docs/utlidar-camera-calib.md +++ b/docs/utlidar-camera-calib.md @@ -1,5 +1,13 @@ # Lidar to Camera Extrinsic Calibration + +The goal of this procedure is to find the extrinsic transformation between the Lidar coordinate frame and that of the camera in front of the robot: + + +

+ image +

+ First pull the docker image: ```bash docker pull koide3/direct_visual_lidar_calibration:humble