ubuntu20.04安装使用direct_visual_lidar_calibration标定雷达和相机

最新推荐文章于 2025-04-14 15:49:45 发布

小负不负

最新推荐文章于 2025-04-14 15:49:45 发布

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文章标签：数码相机

本文链接：https://blog.youkuaiyun.com/m0_58173801/article/details/145320070

官方链接GitHub - koide3/direct_visual_lidar_calibration: A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]

官方安装方式

Installation - direct_visual_lidar_calibration

安装依赖

sudo apt install libomp-dev libboost-all-dev libglm-dev libglfw3-dev libpng-dev libjpeg-dev

安装GTSAM

git clone https://github.com/borglab/gtsam
cd gtsam && git checkout 4.2a9
mkdir build && cd build
//ubuntu20.04
cmake .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
         -DGTSAM_BUILD_TESTS=OFF \
         -DGTSAM_WITH_TBB=OFF \
         -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF
make -j$(nproc)
sudo make install

安装ceres

# Install Ceres
git clone --recurse-submodules https://github.com/ceres-solver/ceres-solver
cd ceres-solver
git checkout e47a42c2957951c9fafcca9995d9927e15557069
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF
make -j$(nproc)
sudo make install

安装Iridescence

# Install Iridescence for visualization
git clone https://github.com/koide3/iridescence --recursive
mkdir iridescence/build && cd iridescence/build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
sudo make install