Could you tell me how to use this calibration tool?
I would like to know the steps to get the final extrinsic transformation.
Thanks,
Yuki

Regarding your question: If you have checked our paper: https://arxiv.org/pdf/1905.04912.pdf, you may notice that our approach consists of two steps: extrinsic initialization and extrinsic refinement. If the initial extrinsics are already provided or measured, please goto 3; if not, please goto 1 for the hand-eye calibration. Step 1: generate odometry Your platform should follow an "8"-shape trajectory or others, simultaneously you need to record the lidar data. After that, you can use LEGO-LOAM to calculate the odometry of each lidar. Please use rosbag record to record the results and get three bags: loam_top.bag, loam_front.bag, loam_tail.bag. step 2: hand-eye calibration Please use MATLAB to run online_calibration_plannar.m to calibrate extrinsics by aligning the odometry of each lidar. This part corresponds to Sec. IV-B of the paper. Step 3: refinement Please set your initial extrinsics in LeGO-LOAM/cfg/cfg.yaml: tf_l1_l2_ini, tf_l1_l3_ini. And run the ICP refinement program:
roslaunch lego_loam run_check_overlapping_4.laucnh
This part corresponds to Sec. IV-C of the paper. Note: I provide the rosbag for testing: http://gofile.me/4jm56/nhNAwDAXi, you can feel free to use it. If you have any questions, please do not hesitate to request an issue.

I am trying this calibration package with 8_shape.bag(download from http://gofile.me/4jm56/nhNAwDAXi), in Step 1: generate odometry , you say use rosbag record to record the results, i wonder which topic should i record？
And i record /key_pose_origin /laser_cloud_surround.
Then i try roslaunch lego_loam run_check_overlapping_4.laucnh, But an error message（No element named RigidTransformation is registered. ） is displayed, and [the check_overlapping_4-2] process has died.
I wonder if there are more tutorial in detail，be grateful if I could get your guidance！！！

How to run to calibrate #1

Description

Metadata

Metadata

Assignees

Labels

Type

Projects

Milestone

Relationships

Development

Issue actions