# two-step-calib

**Repository Path**: yinshilun/two-step-calib

## Basic Information

- **Project Name**: two-step-calib
- **Description**: 激光与惯导系统的无控两步法迭代标定算法
- **Primary Language**: C++
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2022-06-03
- **Last Updated**: 2023-07-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# two-step-calib

#### Overview

Two-step-calib provides a calibration tool for a lidar-IMU system.  Compared with traditional methods, this algorithm is simple to operate, has improved accuracy, and is highly stable, making it suitable for various laser point cloud collection methods. This high-precision calibration result can benefit a wide range of acquisition platforms, including handheld, unmanned ground vehicle (UGV), and backpack lidar-IMU systems.

#### 概述

针对当下普遍应用的三维激光雷达与惯导组合系统，本仓库提供了激光惯导系统的标定工具。本文算法操作简单，精度相比于传统方法有所提升，且稳定性强，适用于多种在多种激光采集方式。针对手持式激光雷达及惯导组合系统、车载式激光雷达及惯导组合系统、背包式激光雷达及惯导组合系统均能得到较好的标定结果。

#### Prerequisites
1.  [ROS Melodic](https://wiki.ros.org/ROS/Installation)
2.  [omp-ndt](https://github.com/koide3/ndt_omp)
3.  Ubuntu 18.04

#### 依赖

1.  [ROS Melodic](https://wiki.ros.org/ROS/Installation)
2.  [omp-ndt](https://github.com/koide3/ndt_omp)
3.  Ubuntu 18.04

#### Install

1. install the omp-ndt dependency
2. Copy the code locally
```
git clone https://gitee.com/yinshilun/two-step-calib
cd two-step-calib/build
cmake
make
```

#### 安装

1.  安装omp-ndt依赖
2.  将代码拷贝至本地
```
git clone https://gitee.com/yinshilun/two-step-calib
cd two-step-calib/build
cmake
make
```

#### Run
```
./build/main_imu_lidar_cali 'path to bag_file' /lidar_topic /IMU_topic
```
The code uses the point cloud matching method provided by the OMP-NDT library by default. It also integrates NDT, ICP, and GICP algorithms, which can be changed within the code if needed.

The code assumes the identity matrix as the standard for result calculation. If there is an initial pose matrix available, it can be modified at lines 270 and 455 in the code.

#### 使用
```
./build/main_imu_lidar_cali 'bag路径' /激光topic /惯导topic
```
代码默认使用omp-ndt的点云匹配方法。同时代码也集成了NDT、ICP、GICP算法，如果需要可以在代码内进行更改。
代码默认使用单位阵作为结果计算的标准，如果有初始姿态矩阵，则可以在270行和455行进行修改。