运行环境：

ubuntu18.04.6 melodic
opencv 3.4.16
python 2.7.17 (ros自带)
usb-cam
速腾robosense 16

1.1 ROS环境配置

官方Github: https://github.com/acfr/cam_lidar_calibration
rs_to_velodyne :https://github.com/HViktorTsoi/rs_to_velodyne

1）工作空间创建和编译

# 创建工作空间
mkdir -p calib_new_ws/src
cd calib_new_ws/src

# 克隆仓库
git clone -c http.sslverify=false https://gitlab.acfr.usyd.edu.au/its/cam_lidar_calibration.git

# 下载ros和python依赖
sudo apt update && sudo apt-get install -y ros-noetic-pcl-conversions ros-noetic-pcl-ros ros-noetic-tf2-sensor-msgs
pip install pandas scipy

# 编译
cd calib_new_ws
catkin_make

2）官方数据集测试环境

①开始标定

roslaunch cam_lidar_calibration run_optimiser.launch import_samples:=true

标定好的文件保存在 cam_lidar_calibration/data/vlp/路径下

②评估标定结果

roslaunch cam_lidar_calibration assess_results.launch csv:="$(rospack find cam_lidar_calibration)/data/vlp/calibration_quickstart.csv" visualise:=true

2.1 在线标定

1）数据类型

激光雷达点云类型为XYZIR
雷达话题数据类型 sensor_msgs::PointCloud2
相机话题数据类型 sensor_msgs::Image、sensor_msgs::CameraInfo

rostopic type /velodyne_points
rostopic type /usb_cam/image_raw
rostopic type /usb_cam/camera_info

标定好的文件保存在cam_lidar_calibration/data路径下

2）标定板制作

标定板打印路径
我们标定板大小：图3—A1（841 x 594mm）, 小方格边长 95mm ，内部顶点 7x5

标定注意事项：标定板摆放与地面成45°角

3）配置文件

设置params.yaml中的话题和棋盘格大小（参考标定板制作内容）

# 速腾RS16 + usb_cam
camera_topic: "/usb_cam/image_raw"
camera_info: "/usb_cam/camera_info"
# rs 话题
# lidar_topic: "/rslidar_points" 
# rs_to_velodyne 话题
lidar_topic: "/velodyne_points"

4）开始标定

偏移量设置(减少平均误差) distance_offset_mm=-30

①启动标定包

roslaunch cam_lidar_calibration run_optimiser.launch import_samples:=false

②调整 rqt_reconfigure 中的 x、y 、 z 分离出棋盘点云, 分离好一张点Capture, 有问题的点discard。分离好20张左右点Optimise。

标定注意事项：对于 VLP-16，至少保证7条线打在标定板上

②获取标定结果

roslaunch cam_lidar_calibration assess_results.launch csv:="$(rospack find cam_lidar_calibration)/data/vlp/calibration_quickstart.csv" visualise:=true

5）完整实现步骤

详细操作见博客：
Robosense激光雷达Linux配置
usb_cam 相机ROS配置
usb_cam相机标定实践 ROS

1.启动相机
cd /home/duduzai/SPbot/usb_cam_ws
source ./devel/setup.bash
roslaunch usb_cam usb_cam.launch

2.启动雷达（注释雷达launch中的rviz）
cd /home/duduzai/SPbot/robosense_ws
source ./devel/setup.bash
roslaunch rslidar_sdk start.launch

3.rs to velodyne
cd source ./devel/setup.bash
source ./devel/setup.bash
rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZIR

4、标定
cd /home/duduzai/SPbot/calib_new_ws
source ./devel/setup.bash
roslaunch cam_lidar_calibration run_optimiser.launch import_samples:=false
roslaunch cam_lidar_calibration assess_results.launch csv:="$(rospack find cam_lidar_calibration)/data/vlp/calibration_2023-04-20_17-23-44.csv" visualise:=true

3.1 python版本选择

3.2 rviz参数修改

Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Image1
        - /Image2
        - /MarkerArray1
      Splitter Ratio: 0.5
    Tree Height: 366
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Image
  - Class: cam_lidar_calibration/CamLidarCalibration
    Name: CamLidarCalibration
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      
      # Plane Cell Count: 10
      Plane Cell Count: 50
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /gmsl/A0/image_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true

      # Image Topic: /camera_features
      Image Topic: /usb_cam/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255

      # Max Intensity: 217
      Max Intensity: 155
      Min Color: 0; 0; 0
      Min Intensity: 1
      Name: Experimental Region
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3

      # Size (m): 0.009999999776482582
      Size (m): 0.01
      Style: Flat Squares
      Topic: /feature_extraction/experimental_region
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 60
      Min Color: 0; 0; 0
      Min Intensity: 1
      Name: Chessboard
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /feature_extraction/chessboard
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /feature_extraction/collected_samples
      Name: MarkerArray
      Namespaces:
     
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 7.726625442504883
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 2.3772096633911133
        Y: -1.2373826503753662
        Z: 1.9428495168685913
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.6603978276252747
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.71859073638916
    Saved: ~
Window Geometry:
  CamLidarCalibration:
    collapsed: false
  Displays:
    collapsed: false
  Height: 1075
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000391fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000001ab000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d000001660000001600fffffffb0000000a0049006d00610067006501000001a90000016d0000001600fffffffb0000000a0049006d0061006700650100000172000001400000000000000000fb0000002600430061006d004c006900640061007200430061006c006900620072006100740069006f006e010000031c000000b2000000a300ffffff000000010000010f00000315fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000315000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000042fc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006100000039100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1920
  X: 1920
  Y: 201  Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    
    # Fixed Frame: velodyne_front_link
    # Fixed Frame: rslidar 
    Fixed Frame: velodyne
    
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 7.726625442504883
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 2.3772096633911133
        Y: -1.2373826503753662
        Z: 1.9428495168685913
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.6603978276252747
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.71859073638916
    Saved: ~
Window Geometry:
  CamLidarCalibration:
    collapsed: false
  Displays:
    collapsed: false
  Height: 1075
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000391fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000001ab000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d000001660000001600fffffffb0000000a0049006d00610067006501000001a90000016d0000001600fffffffb0000000a0049006d0061006700650100000172000001400000000000000000fb0000002600430061006d004c006900640061007200430061006c006900620072006100740069006f006e010000031c000000b2000000a300ffffff000000010000010f00000315fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000315000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000042fc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006100000039100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1920
  X: 1920
  Y: 201

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