Camera-LiDAR_Online_Calibration

This repository utilizes a lot of 3rdparty libraries(C++ Only), they are as follows.
(All libraries are modified for structure as what I configure, and you don't have to download libraries)

Own Libraries

BTS_cpp
HarDNet_cpp
calibration_dk

Others Libraries(Thanks a lot for all)

SuperPoint-SuperGlue-TensorRT
glob
patchwork-plusplus
ndt_omp

Environment

• Ubuntu 20.04.3 LTS
• ROS noetic 1.15.14
• GCC 10.3.0
• CMake 3.22.2
• LibTorch 1.9.1
• CUDA 11.1
• OpenCV 4.2.0
• Eigen 3.3.7
• PCL 1.10.1
• Yaml-cpp 0.6.2
• CasADi 3.6.1(with IPOPT, please follow link for installation)

Download Large Files

Sample DB	BTS Libtorch .pt File	HarDNet Libtorch .pt File	SuperPoint TensorRT .engine File	SuperPoint .onnx File	SuperGlue TensorRT .engine File	SuperGlue .onnx File
Download	Download	Download	Download	Download	Download	Download
Tree	Tree	Tree	Tree	Tree	Tree	Tree

Package Folder Tree

Camera-LiDAR_Online_Calibration

• ros
  • src
    • online_calibration_with_stored_data
      • rviz
      • src
      • 3rdparty
        • tensorrtbuffer
          • include
          • src
          • lib
        • bts
          • src
          • lib
        • calibration_dk
          • src
          • lib
        • fullyHardNet
          • src
          • lib
        • glob
          • src
          • lib
        • patchworkpp
          • src
          • lib
        • pclomp
          • src
          • lib
        • superglue
          • src
          • lib
      • pre_cali
      • model
        • hardnet
        • superglue
        • bts
      • sample_db

Contact

If you have any question, please contact me

• Dongkyu Lee, [email protected] or [email protected]