Design

We share complete CAD design.

• CAD directory contains archive from Autodesk Fusion (f3z) and STEP. Fusion project contains complete geometry and CAM design for CNC jobs.
• DXF directory contains a DXF outline to CNC router cutting
• FDM 3mf files for 3D printing. Two PDF shwoing assembly.

Catoprtric calibration tool

Compilation

Install dependencies:

sudo apt-get install libtbb-dev libceres-dev libpcl-dev libglfw3-dev libglm-dev

mkdir -p calibration_tool/build
cd calibration_tool/build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j6

Sample execution:

./calibration_gui  --dataset ../../sample_data/file_list_A.txt --mirror_config ../../sample_data/test_lustro_hex_v2.ply

calibration_gui

Input parameters

The calibration suite to calibrate. It takes parametes:

dataset - list of calibration datasets. Files listed here should contain list of CSV from LivoxViewer and angles, sample file is here:

# angle livox_csv
0 garazA/a0.csv
10 garazA/a10.csv
20 garazA/a20.csv
30 garazA/a30.csv
40 garazA/a40.csv
50 garazA/a50.csv
60 garazA/a60.csv

If multiple scans site are added, User can update its poses with gizmos. Optimization can be done separetly on every site, or simultaneously using nearest neighborhood between multiple scans.

ground_truth - ground truth PCD (PCL point cloud), this file allows to register scans to ground truth simultaneously optimize parameters

mirror_config - a simplified PLY with mirror initial config.

Usage - sinlge scan

./calibration_gui  --dataset ../../sample_data/file_list_A.txt --mirror_config ../../sample_data/test_lustro_hex_v2.ply

After loading, please click "Optimize". This sample optimize in 20 iterations.

Usage - multiple scan

./calibration_gui  --dataset ../../sample_data/file_list_A.txt ../../sample_data/file_list_B.txt --mirror_config ../../sample_data/test_lustro_hex_v2.ply

Controls

• render_sparse - allows to render a sparses pointcloud (use that when manipulate pointclouds)
• render ground truth - renders ground turth (if loaded)
• block mirrors - blocks optimization of mirror parameters
• block leverarm - blocks optimization of laser scanner on turntable
• block pose relative - blocks optimization between multiple sites (only if multiple sites when loaded)
• block global pose - blocks optimization between model and ground truth (only ground truth when loaded)
• allow_nn_between_sites - searches for correspondeces between multiple sites
• allow_nn_indside_site - searches for correspondeces iner one site
• allow_nn_groundtrurth - searches for correspondeces between scan sites and ground truth
• draw NN - draws corespondeces
• reset - resets all optimized parameters
• export scan sites poses - exports scan site SE3 poses to ini file
• import scan sites poses - imports scan site SE3 poses from ini file
• export calib - exports parameters of mirrors
• import calib - imports parameters of mirrors
• export PCDs - save current model and ground truth.

simulation_gui

Simple program to check field of view with sample config and simulated Livox Mid-40

./simulate_gui --mirror_config ../../sample_data/test_lustro_hex_v2.ply

Road map

• ROS1/ROS2 node that will consume calibration
• Support for non-triangular mirrors

Datasets to download

cd sample_data/
wget https://storage.googleapis.com/dataset_sensors_pub/mid-40-garageA.tar.xz
tar -xf mid-40-garageA.tar.xz

wget https://storage.googleapis.com/dataset_sensors_pub/ground_truth.tar.xz
tar -xf ground_truth.tar.xz

or run download.sh