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ubuntu 16.04 + ROS Kinetic
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Eigen3
cd catkin_ws/src
git clone https://github.com/MegviiRobot/OdomLaserCalibraTool
cd ..
catkin_make
source devel/setup.bash
roslaunch example.launch
INPUT:
A rosbag includes laser scan and odometer data(left & right wheels' velocity). Please check the topic name with launch file.
*Note that we use rostopic type geometry_msgs::Vector3Stamped to record odometer's raw data, for other types please modify the code.
OUTPUT:
Extrinsic parameters between LiDAR and odomter(x, y, yaw), intrinsic paramters of odomter(left & right wheels' radius, track between two wheels) and related uncertainty analysis.
e.g.
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Zhijie WANG, fomer research intern at Megvii, received B.Eng from Beijing University of Posts & Telecommunications, currently a master student in University of Waterloo, contact with <paul dot wangzhijie at outlook dot com> if you have questions with code.
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Yijia HE, you can find the chinese version in his homepage, if you have any question, please contact <heyijia at megvii dot com>.
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Xiao Liu, his homepage
Censi, Andrea, Franchi, Antonio, Marchionni, Luca & Oriolo, Giuseppe (2013). Simultaneous calibration of odometry and sensor parameters for mobile robots. IEEE Transactions on Robotics, 29, 475-492.