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Lidar-Camera calibration tool

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matlabbe
2026-10-05 01:03:20 -07:00
parent aa95581cd2
commit 0d4d8ff989
16 changed files with 2537 additions and 0 deletions
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tools/LidarCameraCalibration/CMakeLists.txt
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ADD_EXECUTABLE(lidarCameraCalibration
main.cpp
CalibrationProblem.cpp
CorrectionSolver.cpp
PatternSearchSolver.cpp
DownhillSimplexSolver.cpp
G2oSolver.cpp
GtsamSolver.cpp)
TARGET_LINK_LIBRARIES(lidarCameraCalibration rtabmap_core)
# For the g2o solver: rtabmap_core links g2o privately.
IF(G2O_FOUND)
IF(g2o_FOUND)
TARGET_LINK_LIBRARIES(lidarCameraCalibration g2o::core g2o::solver_eigen)
ELSE()
TARGET_INCLUDE_DIRECTORIES(lidarCameraCalibration PRIVATE ${G2O_INCLUDE_DIRS})
TARGET_LINK_LIBRARIES(lidarCameraCalibration ${G2O_LIBRARIES})
ENDIF()
ENDIF(G2O_FOUND)
# For the GTSAM solver: rtabmap_core links GTSAM privately.
IF(GTSAM_FOUND)
TARGET_LINK_LIBRARIES(lidarCameraCalibration gtsam)
ENDIF(GTSAM_FOUND)
SET_TARGET_PROPERTIES( lidarCameraCalibration
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-lidarCameraCalibration)
INSTALL(TARGETS lidarCameraCalibration
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)