[qtruck] manual calibration of multiple lidars - e-guy/e-guyNotes GitHub Wiki

manual calibration of multiple lidars

Given two lidars （with link frame "front_left_vel_link" and "front_right_vel_link", respectively), qtruck with link frame "chassis". steps overview:

1. record pointcloud bag for all lidars
2. play bag
3. open rviz and adjustment rtf dynamically and observe calibrated result

1. record pointcloud bag for all lidars

2. play bag

4. open rviz and adjustment rtf dynamically and observe calibrated result

Calibrate r,p,y for left lidar and right lidar
In rviz, set up:

• Display -> Global options -> fixed frame: chassis, srcPoints(PointCloud2): /qml/sensor/rslidar16/left/points, dstPoints(PointCloud2):/qml/sensor/rslidar16/right/points publish tf: chassis - front_left_vel_link - front_right_vel_link
• view -> type:Orbit(rviz) -> yaw:0, pitch:0, focal point:(0,0,0), distance:50
  keep adjusting pitch value, roll value
• view -> type:Orbit(rviz) -> yaw:1.57, pitch:0, focal point:(0,0,0), distance:50
  keep adjusting pitch value, roll value
• view -> type:Orbit(rviz) -> yaw:3.14, pitch:0, focal point:(0,0,0), distance:50
  keep adjusting pitch value, roll value
• view -> type:Orbit(rviz) -> yaw:0, pitch:1.57, focal point:(0,0,0), distance:50
  keep adjusting yaw value

Calibrate x, y, z for left lidar and right lidar keep adjusting x, y, z value