Automation

Automatic Calibration for Non-repetitive Scanning Solid-State LiDAR and Camera Systems

ACSC

Automatic extrinsic calibration for non-repetitive scanning solid-state LiDAR and camera systems.

System Architecture

pipeline

1. Dependency

Tested with Ubuntu 16.04 64-bit and Ubuntu 18.04 64-bit.

  • ROS (tested with kinetic / melodic)

  • Eigen 3.2.5

  • PCL 1.8

  • python 2.X / 3.X

  • python-pcl

  • opencv-python (>= 4.0)

  • scipy

  • scikit-learn

  • transforms3d

  • pyyaml

  • mayavi (optional, for debug and visualization only)

2. Preparation

2.1 Download and installation

Use the following commands to download this repo.

Notice: the SUBMODULE should also be cloned.

git clone --recurse-submodules https://github.com/HViktorTsoi/ACSC

Compile and install the normal-diff segmentation extension.

cd /path/to/your/ACSC/segmentation

python setup.py install

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