![apollo cloud manual apollo cloud manual](https://1.bp.blogspot.com/-7CJsZViBKv0/WwWElPghj_I/AAAAAAAE3Bk/hdxCfOujbS4s0LdEwx4r9DDwwKHvPffagCEwYBhgL/s1600/IMG_20180520_145959_1.jpg)
Radar-to-Camera Calibration Configuration Description Configuration Table 6 identifies and describes each element in the configuration file. apollo/modules/calibration/radar_camera_calibrator/conf/radar_camera_nf Run the Radar-to-Camera Calibration Tool using these commands:.Two validation images that project the LiDAR point cloud onto a camera image:.The calibrated extrinsic file, provided as a.The types of output from the Camera-to-LiDAR Calibration Tool are:.
![apollo cloud manual apollo cloud manual](http://www.premier-lighting.com/downloads/manuals/Gobo%20and%20Gel%20Kit%20Flyer2_WEB-1.jpg)
Camera-to-LiDAR Calibration Configuration Description Configuration Table 5 identifies and describes each element in the configuration file. apollo/modules/calibration/lidar_camera_calibrator/camera_camera_nf
APOLLO CLOUD MANUAL HOW TO
For more information, see: How to Check the Sensor Output? Users must confirm that all sensor topics required by the program have output messages. Good Choice for a Calibration Site Required Topics It is recommended that you select a calibration site that includes objects such as trees, poles, street lights, traffic signs, stationary objects, and clear traffic lines.įigure 1 is an example of a good choice for a calibration site:įigure 1. Calibration Siteīecause the Camera-to-LiDAR Calibration method is used in natual environment, a good location can significantly improve the accuracy of the calibration. Therefore, it is essential that you provide the most accurate, initial extrinsic value as conditions allow. A large deviation can lead to calibration failure. NOTE: The Camera-to-LiDAR Calibration is more dependent on initial extrinsic values. The rotation is the quaternion expression form of the rotation matrix. The following is an example of an initial extrinsic file of Camera-to-LiDAR, where translation is the shift distance between the camera and LiDAR. The tools require the user to provide an initial extrinsic value as a reference. If you follow this practice, you can improve the accuracy of the extrinsic calibration results. It is recommended that you perform the intrinsic calibration for every single camera instead of using unified intrinsic parameters for every camera. The following is an example of a camera intrinsic file:ĭ: Users must ensure that the K and D data is correct: After the calibration is completed, users should convert the result to a specific yaml format file manually. Users can obtain the intrinsics from other camera calibration tools such as the ROS Camera Calibration Tools and the Camera Calibration Toolbox for Matlab. Well Calibrated Intrinsics of CameraĬamera intrinsics contain focus length, principal points, distortion coefficients, and other information. APOLLO_HOME is the root directory of apollo repository. Preparationĭownload calibration tools, and extract files to $APOLLO_HOME/modules/calibration. The user can then verify the calibration results, which are provided as. The user only has to start the corresponding calibration program, and the calibration work is performed and completes in real time. The benefit in using these tools is that they reduce the amount of work that the user must do. Velodyne HDL-64 users can also use the calibration service in Apollo 1.5. The new calibration tools in Apollo 2.0 (Camera-to-Camera Calibration, Camera-to-LiDAR Calibration, and Radar-to-Camera Calibration) are provided by an onboard executable program.For LiDAR-GNSS calibration, please refer to the LiDAR-IMU calibration guide. This guide provides the following information: This guide introduces the Apollo Sensor Calibration Service and describes the three new calibration tools in Apollo 2.0: