Camera-map registration

1. Download dataset

Download faro.tar.gz from zenodo repository and unzip it:

$ tar xzvf faro.tar.gz

$ ls faro
# camera_params.txt  image00.jpg  map.ply

cat faro/camera_params.txt
# camera_model: plumb_bob
# intrinsic: 2242.45,2242.69,1579.98,1172.42
# distortion: -0.0272569,0.00207913,-0.00411347,-0.00208982,-0.00291759

2. Preprocessing

$ ros2 run direct_visual_lidar_calibration preprocess_map \
  --map_path faro/map.ply \
  --image_path faro/image00.jpg \
  --dst_path faro_preprocessed \
  --camera_model plumb_bob \
  --camera_intrinsics 2242.45,2242.69,1579.98,1172.42 \
  --camera_distortion_coeffs -0.0272569,0.00207913,-0.00411347,-0.00208982,-0.00291759

3. Initial guess

$ ros2 run direct_visual_lidar_calibration initial_guess_manual faro_preprocessed

4. Fine registration

$ ros2 run direct_visual_lidar_calibration calibrate faro_preprocessed