jd-eth / remittance-calibration Goto Github PK

When I compile the package, I encounter the error as show below:
devel/lib/libremittance_calib.so: undefined reference to remittance_calib::Calibrator::uniform_dist
But I found the class object uniform_dist in calibrator.hpp. How can I solve the problem?

hi Guo! Thanks for your work，can you provide some test data?

Hi Guo!
I use your code to calibrate my VLP16 lidar intensity. However poor result happens

Later I use your calibration file from QCAT dataset, but still, it seems not perfect

The right side is the calibrated pointcloud and the left is the original. There are some points with
purple intensity after calibrated, who I think are the outliers. It seems that the velodyne lidar has already been calibrated. My calibration result shows worse performance than the original velodyne data.
However, it seems QCAT dataset also have this issue.

The right(corrected) pointcloud has some blue intensity points while the left(original) does not. The two pointclouds are from QCAT pole local_scan_52.
I am not sure whether it is necessary to calibrate the intensity manually? Or something I understand wrong?
Looking forward to your reply!

cmake_minimum_required(VERSION 2.8.3)
project(remittance_calib)

/## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

/## Find catkin macros and libraries
/## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
/## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
pcl_ros
)

find_package(PCL REQUIRED)
include_directories((${PCL_INCLUDE_DIRS}))

set(GFLAGS_INCLUDE_DIRS /usr/local/include/gflags/)
set(GLOG_INCLUDE_DIRS /usr/local/include/glog/)

catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS pcl_ros
)

include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
"/usr/include/eigen3"
${GFLAGS_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)

set(PUBLIC_HPP
include/remittance_calib/pcl_point.hpp
include/remittance_calib/io.hpp
include/remittance_calib/pdf.hpp
include/remittance_calib/types.hpp
include/remittance_calib/calibrator.hpp
)
set(LIB_CPP
src/io.cpp
src/types.cpp
src/calibrator.cpp
)
/## Declare a C++ library
add_library(${PROJECT_NAME} SHARED ${PUBLIC_HPP} ${LIB_CPP} )

LINK_DIRECTORIES("/usr/local/lib/")

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
libgflags.so
libgflags_nothreads.so
libglog.so
)

/# Tests
catkin_add_gtest(${PROJECT_NAME}_tests
test/test_main.cpp
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test
)
target_link_libraries(${PROJECT_NAME}_tests
${PROJECT_NAME}
${catkin_LIBRARIES}
libgflags.so
libgflags_nothreads.so
libglog.so
)

/## Executable 1
add_executable(calibrate src/run_calibration.cpp)
target_link_libraries(calibrate ${PROJECT_NAME} ${catkin_LIBRARIES} )
/## Executable 2
add_executable(correct src/run_correction.cpp)
target_link_libraries(correct ${PROJECT_NAME} ${catkin_LIBRARIES})
/## Executable 2
add_executable(merge src/merge_pointclouds.cpp)
target_link_libraries(merge ${PROJECT_NAME} ${catkin_LIBRARIES})