modify calibration documents

README.md

@@ -4,33 +4,33 @@ SensorsCalibration is a simple calibration toolbox and open source project, main
 
 ## Introduction
 
-Sensor calibration is the foundation block of any autonomous system and its constituent sensors and must be performed correctly before sensor fusion may be implemented. Precise calibrations are vital for further processing steps, such as sensor fusion and implementation of algorithms for obstacle detection, localization and mapping, and control. Further, sensor fusion is one of the essential tasks in autonomous driving applications that fuses information obtained from multiple sensors to reduce the uncertainties compared to when sensors are used individually. To solve the problem of sensor calibration for autonomous vehicles, we provide a sensors calibration toolbox. The calibration toolbox can be used to calibrate sensors such as IMU, Lidar, Camera, and Radar.
+Sensor calibration is the foundation block of any autonomous system and its constituent sensors and must be performed correctly before sensor fusion may be implemented. Precise calibrations are vital for further processing steps, such as sensor fusion and implementation of algorithms for obstacle detection, localization and mapping, and control. Further, sensor fusion is one of the essential tasks in autonomous driving applications that fuses information obtained from multiple sensors to reduce the uncertainties compared to when sensors are used individually. To solve the problem of sensor calibration for autonomous vehicles, we provide a sensors calibration toolbox. The calibration toolbox can be used to calibrate sensors such as **IMU, Lidar, Camera, and Radar**.
 
 ### Sensors calibration
 This calibration toolbox provides some calibration tools based on road scenes. The specific contents are as follows. If you want to use one of the calibration tools in the list below, you can click the use link to enter the instruction page. 
 
 | calibration param |calibration type| calibration method | mannual calibration | auto calibration | usage |
 | :--------------: |:--------------:| :------------: | :--------------: | :------------: | :------------: |
 | camera intrinsice| intrinsic |  target-based  |             |  ✔  |[camera intrinsic](camera_intrinsic/README.md)|
-| imu heading      | extrinsic |  target-less   |             |  ✔  ||
-| lidar2imu        | extrinsic |  target-less   |   ✔  |  ✔  ||
-| lidar2camera     | extrinsic |  target-less   |   ✔  |  ✔  ||
-| lidar2lidar      | extrinsic |  target-less   |   ✔  |  ✔  ||
-| radar2camera     | extrinsic |  target-less   |   ✔  |            ||
-| radar2lidar      | extrinsic |  target-less   |   ✔  |            ||
+| imu heading      | extrinsic |  target-less   |             |  ✔  |[imu heaidng](imu_heading/README.md)|
+| lidar2imu        | extrinsic |  target-less   |   ✔  |  ✔  |[lidar2imu](lidar2imu/README.md)|
+| lidar2camera     | extrinsic |  target-less   |   ✔  |  ✔  |[lidar2camera](lidar2camera/README.md)|
+| lidar2lidar      | extrinsic |  target-less   |   ✔  |  ✔  |[lidar2lidar](lidar2lidar/README.md)|
+| radar2camera     | extrinsic |  target-less   |   ✔  |            |[radar2camera](radar2camera/README.md)|
+| radar2lidar      | extrinsic |  target-less   |   ✔  |            |[radar2lidar](radar2lidar/README.md)|
 
 
 ### Factory calibration
 At the same time, the calibration toolbox also provides some factory calibration tools. 
 
-| calibration board type  | calibration sensor | calibration board pattern | remove opencv | auto calibration | link |
+| calibration board type  | calibration sensor | calibration board pattern | remove opencv | auto calibration | usage |
 | :--------------: |:--------------:| :------------: | :--------------: | :------------: | :------------: |
-| chessboard   | camera |    |       ✔      |  ✔       ||
-| circle board      | camera |     |       ✔     |  ✔  ||
-| vertical board        | camera |     |   ✔  |  ✔     || 
-| aruco marker board     | camera |    |   ✔  |  ✔     ||
-| apriltag board      | camera |     |   ✔  |  ✔       ||
-| round hole board      | camera and lidar |  |   ✔  |      ✔      ||
+| chessboard   | camera |    |       ✔      |  ✔       |[factory calib](factory_calib/README.md)|
+| circle board      | camera |     |       ✔     |  ✔  |[factory calib](factory_calib/README.md)|
+| vertical board        | camera |     |   ✔  |  ✔     |[factory calib](factory_calib/README.md)| 
+| aruco marker board     | camera |    |   ✔  |  ✔     |[factory calib](factory_calib/README.md)|
+| apriltag board      | camera |     |   ✔  |  ✔       |[factory calib](factory_calib/README.md)|
+| round hole board      | camera and lidar |  |   ✔  |      ✔      |[factory calib](factory_calib/README.md)|
 
 ## Related paper
 Related paper available on arxiv:  

camera_intrinsic/README.md

@@ -50,3 +50,19 @@ run command:
 - **Intrinsic Calibration:** Program will automatically run intrinsic calibration. Corner-detect result will be displayed. All input calibration images will be undistorted and save to `<calibration_image_dir>/undistort/` dir.
 
 - **Distortion Evaluation:** Sampled points of original and undistorted images will be displayed. Undistorted distortion_image will be save to `<output_dir>`.
+
+## Citation
+This distortion evaluation code is based on the research below:
+```
+@article{tang2012high,
+  title={High-precision camera distortion measurements with a “calibration harp”},
+  author={Tang, Zhongwei and von Gioi, Rafael Grompone and Monasse, Pascal and Morel, Jean-Michel},
+  journal={JOSA A},
+  volume={29},
+  number={10},
+  pages={2134--2143},
+  year={2012},
+  publisher={Optical Society of America}
+}
+   
+```

factory_calib/README.md

@@ -0,0 +1,52 @@
+## Introduction
+
+This is a project for intrinsic calibration and evalution.
+
+It mainly includes two part: intrinsic calibration, distortion measurement. 
+
+## Prerequisites
+
+- Cmake
+- opencv 2.4
+- eigen 3
+
+## Compile
+Compile in their respective folders
+
+```shell
+# mkdir build
+mkdir -p build && cd build
+# build
+cmake .. && make
+```
+
+## Input data
+- <calibration_image_dir>: contains only seleted chessboard calibration image
+- <distortion_image_path>: distortion harp image
+
+## Calibration targets
+
+Camera intrinsic calibration board, size 900 * 1000 mm, each grid size 100 * 100 mm
+
+<img src="./images/board2.jpg" width="20%" height="20%" alt="checkerboard" div align=center /><br>
+
+Camera intrinsic calibration board, size 900 * 1000 mm, each grid size 50 * 50 mm
+
+<img src="./images/board1.jpg" width="20%" height="20%" alt="checkerboard" div align=center /><br>
+
+Camera distortion measurement board, size 900 * 1000 mm
+
+<img src="./images/board3.jpg" width="20%" height="20%" alt="distortion" div align=center /><br>
+
+## Run
+run command:
+```shell
+# run intrinsic calibration
+./bin/run_intrinsic_calibration <calibration_image_dir>
+# run distortion measurement
+./bin/run_distortion_measure <distortion_image_path>
+```
+
+- **Intrinsic Calibration:** Program will automatically run intrinsic calibration. Corner-detect result will be displayed. All input calibration images will be undistorted and save to `<calibration_image_dir>/undistort/` dir.
+
+- **Distortion Evaluation:** Sampled points of original and undistorted images will be displayed. Undistorted distortion_image will be save to `<output_dir>`.

imu_heading/README.md

@@ -0,0 +1,36 @@
+## Introduction
+
+This is a project for imu heading angle calibration and evalution.
+
+<img src="./images/imu_heading.png" width="20%" height="20%" alt="checkerboard" div align=center /><br>
+
+## Prerequisites
+
+- Cmake
+- eigen 3
+
+## Compile
+Compile in their respective folders
+
+```shell
+# mkdir build
+mkdir -p build && cd build
+# build
+cmake .. && make
+```
+
+## Calibration data collection
+
+According to the figure below for data collection, the calibration vehicle records IMU and GPS data in a straight line.
+
+<img src="./images/data_collect.png" width="20%" height="20%" alt="checkerboard" div align=center /><br>
+
+## Run
+run command:
+```shell
+# run imu heading calibration
+./bin/run_imu_heading method_id <data_dir>
+```
+- **Imu heading calibration:** The imu heading angle is obtained by the registration calculation of GPS trajectory and imu data.
+
+- **Imu heading evaluation:** Speed projection verification of imu through the calibrated heading angle of imu.

imu_heading/auto_calib/CMakeLists.txt

@@ -4,7 +4,6 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
 find_package(PCL REQUIRED)
 find_package(Boost REQUIRED system)
 
-include_directories(${PCL_INCLUDE_DIRS})
 include_directories(${EIGEN_ROOT})
 include_directories(${PROJECT_SOURCE_DIR}/include)
 include_directories(${PROJECT_SOURCE_DIR}/src)
@@ -15,7 +14,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 
 file(GLOB_RECURSE PARSER_PATH src/*.cpp)
 add_library(${PROJECT_NAME} STATIC ${PARSER_PATH})
-target_link_libraries(${PROJECT_NAME} libjsoncpp.a ${PCL_LIBRARIES} ${Boost_SYSTEM_LIBRARY})
+target_link_libraries(${PROJECT_NAME} libjsoncpp.a ${Boost_SYSTEM_LIBRARY})
 
 add_executable(run_imu_heading src/run_imu_heading.cpp )
 target_link_libraries(run_imu_heading ${PROJECT_NAME})

imu_heading/auto_calib/data/calibration/imu_heading.csv

@@ -1,2 +1,2 @@
 roll_offset_degree,pitch_offset_degree,yaw_offset_degree,roll_offset_rad,pitch_offset_rad,yaw_offset_rad
-0.000000,0.000000,0.303795,0.000000,0.000000,0.005302
+-0.574228,0.310852,0.430412,-0.010022,0.005425,0.007512

imu_heading/auto_calib/include/imu_heading.hpp

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2020 by SenseTime Group Limited. All rights reserved.
- * Liu Zhuochun <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 
 #pragma once

imu_heading/auto_calib/src/imu_heading.cpp

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2020 by SenseTime Group Limited. All rights reserved.
- * Liu Zhuochun <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 #include "imu_heading.hpp"
 

imu_heading/auto_calib/src/run_imu_heading.cpp

@@ -1,7 +1,8 @@
 /*
- * Copyright (C) 2020 by SenseTime Group Limited. All rights reserved.
- * Yan Guohang <[email protected]>
- * Liu Zhuochun <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 
 #include <dirent.h>
@@ -17,7 +18,7 @@ const char usage[] = "\t./bin/run_imu_heading method_id <data_dir>\n"
 
 int main(int argc, char **argv) {
   if (argc < 3) {
-    std::cout << argv[0] << usage;
+    std::cout << usage;
     return 1;
   }
   int method_id = std::stod(argv[1]);

imu_heading/auto_calib/src/utils/GPS_time.cpp

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2019 by SenseTime Group Limited. All rights reserved.
- * Li WenQiang <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 
 #include "time.h"

imu_heading/auto_calib/src/utils/GPS_time.h

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2019 by SenseTime Group Limited. All rights reserved.
- * Li WenQiang <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 
 #pragma once

imu_heading/auto_calib/src/utils/Ransac_fitline.cpp

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2020 by SenseTime Group Limited. All rights reserved.
- * Liu Zhuochun <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 #include "utils/Ransac_fitline.h"
 

imu_heading/auto_calib/src/utils/Ransac_fitline.h

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2020 by SenseTime Group Limited. All rights reserved.
- * Liu Zhuochun <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 #pragma once
 

imu_heading/auto_calib/src/utils/common.h

@@ -1,6 +1,8 @@
 /*
- * Copyright (C) 2019 by SenseTime Group Limited. All rights reserved.
- * Li WenQiang <[email protected]>
+ * Copyright (C) 2021 by Autonomous Driving Group, Shanghai AI Laboratory
+ * Limited. All rights reserved.
+ * Yan Guohang <[email protected]>
+ * Liu Zhuochun <[email protected]>
  */
 #pragma once