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‎README.md‎

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# Spatial-Temporal-LiDAR-camera-Calibration
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Spatial-Temporal-LiDAR-camera-Calibration
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# Performance on KITTI Odometry
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* ```rotation units```: degree
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* ```translation units```: cm
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* `rotation units`: degree
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* `translation units`: cm
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|Sequence| X| Y | Z | roll | pitch | yaw |
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|Sequence| Roll | Pitch | Yaw| tX| tY| tZ|
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|---|---|---|---|---|---|---|
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|00|0.49|1.33|-0.52|-0.049|-0.225|-0.155|
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|02|-2.80|-1.63|1.18|-0.01|-0.246|-0.159|
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|03|-3.25|3.23|1.21|-0.083|-0.096|-0.087|
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|04|1.22|0.89|2.83|0.011|-0.088|0.074|
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|05|-0.94|-0.52|1.27|0.190|-0.128|-0.181|
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|00|-0.12|-0.22|-0.07|2.93|1.59|0.18|
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|02|-0.01|-0.25|-0.16|-2.80|1.63|1.18|
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|03|-0.08|-0.10|-0.09|-3.25|3.23|1.22|
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|00|0.01|-0.09|0.05|1.03|-0.19|1.10|
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|05|0.01|-0.19|-0.15|1.95|1.56|-0.54|
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|07|-0.05|-0.00|-0.20|1.07|2.07|0.14|
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# Tested Environment
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|C++|CMake|g++|python|System|
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|---|---|---|---|---|
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|C++ 17| CMake 3.25| 9.4.0| 3.8| Ubuntu 20.04|
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|C++ 17| CMake 3.25| 9.4.0| 3.8| Ubuntu 20.00|
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More recent version would be OK.
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# Dependencies
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* [Eigen 3](http://eigen.tuxfamily.org/) (`libeigen3-dev`)
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* [Ceres-Solver](http://ceres-solver.org/)
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* [OpenMP](https://github.com/llvm-mirror/openmp) (`libomp-dev`)
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* [OpenCV 4.x](http://opencv.org/)
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* [Pangolin](https://github.com/stevenlovegrove/Pangolin) (visual tools for ORB_SLAM2)
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* [g2o 2023](https://github.com/RainerKuemmerle/g2o/releases/tag/20230223_git) (`-DG2O_USE_OPENMP=ON`, NO support for earlier version)
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* [Open3D](https://github.com/isl-org/Open3D) (built for C++)
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* [g2o 2023](https://github.com/RainerKuemmerle/g2o/releases/tag/20230223_git) (`-DG2O_USE_OPENMP=ON`)
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* [Open3D](https://github.com/isl-org/Open3D) (Point Cloud IO, ICP)
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* [Nomad](https://github.com/bbopt/nomad) (Global Optimization Algorithm)
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# Install
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* Copy [Thirdparty](https://github.com/UZ-SLAMLab/ORB_SLAM3/tree/master/Thirdparty) and [Vocabulary](https://github.com/UZ-SLAMLab/ORB_SLAM3/tree/master/Vocabulary) directories to [src/orb_slam/](./src/orb_slam/) <details>
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<summary>Troubleshooting</summary>
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Note that the implementation of ORB_SLAM2 in our repo is different from the original one, so DO NOT copy the whole ORB_SLAM2 repo to replace our directory</details>
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* Build and Compile: `cd build && cmake .. -Wno-dev && make -j` <details>
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<summary>TroubleShooting</summary>
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If you have installed g2o through ROS (if you have ROS packages like `base_local_planner`/`teb_local_planner`/`mpc_local_planner`), please exclude it from LD_LIBRARY_PATH environment variable, or `source config/settings.sh`. </details>
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* For performance, build/rebuild g2o with CMake flag `-DG2O_USE_OPENMP=ON`. See [here](https://github.com/RainerKuemmerle/g2o/issues/689#issuecomment-1565658030).
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If you have installed g2o through ROS (if you have ROS packages like `base_local_planner`/`teb_local_planner`/`mpc_local_planner`), please exclude it from LD_LIBRARY_PATH environment variable, or `source config/settings.sh`. </details>
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## Step 1: Estimate Camera and Lidar Poses
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### orb_slam
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an example command for KITTI 04 Sequence:
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An example command for KITTI 00 Sequence:
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```
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./orb_store ../data/04/ ../config/orb_ori/KITTI04-12.yaml ../data/Vocabulary/ORBvoc.txt ../KITTI-04/slam_res/Twc.txt ../KITTI-04/KeyFrames/ ../KITTI-04/Map.yml 1.5
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./orb_store ../data/00/ ../config/orb_ori/KITTI00-02.yaml ../data/Vocabulary/ORBvoc.txt ../KITTI-00/slam_res/Twc.txt ../KITTI-00/KeyFrames/ ../KITTI-00/Map.yml 1.5
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```
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* `../data/04/`: sequence directory of KITTI Sequence 04
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* `../config/orb_ori/KITTI04-12.yaml`: yaml file for ORB_SLAM
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* `../data/00/`: sequence directory of KITTI Sequence 00
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* `../config/orb_ori/KITTI00-02.yaml`: yaml file for ORB_SLAM
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* `../data/Vocabulary/ORBvoc.txt`: DBoW2 Vocabulary txt file for ORB_SLAM
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* `../KITTI-04/slam_res/Twc.txt`: KeyFrame poses saved by ORB_SLAM, in KITTI format
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* ```../KITTI-04/KeyFrames/```: KeyFrame information saved by ORB_SLAM, can be restored during runtime
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* ```../KITTI-04/Map.yml```: Map saved by ORB_SLAM, can be restored during runtime
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* ```1.5```: Slow Rate of ORB_SLAM2. Duration between Frames: computation + wait_time >= 1.5 * real timestamp
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* `../KITTI-00/slam_res/Twc.txt`: KeyFrame poses saved by ORB_SLAM, in KITTI format
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* `../KITTI-00/KeyFrames/`: KeyFrame information saved by ORB_SLAM, can be restored during runtime
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* `../KITTI-00/Map.yml`: Map saved by ORB_SLAM, can be restored during runtime
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* `1.5`: Slow Rate of ORB_SLAM2. Duration between Frames: computation + wait_time >= 1.5 * real timestamp
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### F-LOAM
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an example command for KITTI 04 Sequence:
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an example command for KITTI 00 Sequence:
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```
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./floam_run ../data/04/velodyne/ ../KITTI-04/slam_res/floam_raw_04.txt
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./floam_run ../data/00/velodyne/ ../KITTI-00/slam_res/floam_raw_00.txt
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```
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* ```../data/04/velodyne/```: directory containing the Lidar PointClouds, whose filenames must be sorted by timestamp.
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* ```../KITTI-04/slam_res/floam_raw_04.txt```: Lidar Poses Estimated by F-LOAM.
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* `../data/00/velodyne/`: directory containing the Lidar PointClouds, whose filenames must be sorted by timestamp.
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* `../KITTI-00/slam_res/floam_raw_00.txt`: Lidar Poses Estimated by F-LOAM.
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<details><summary>Note</summary>Note that the number of Lidar Poses is not equal to Camera poses because ORB_SLAM only saved KeyFrame Poses. However, the File Id (FrameId) of these KeyFrames are saved to 'FrameId.yml' in the same directory of 'Map.yml'</details>
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### F-LOAM Backend Optimization
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an example command for KITTI 04 Sequence:
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An example command for KITTI 00 Sequence:
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```
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./floam_backend ../config/loam/backend.yml ../KITTI-04/slam_res/floam_raw_08.txt ../data/04/velodyne/
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./floam_backend ../config/loam/backend.yml ../KITTI-00/slam_res/floam_raw_00.txt ../data/00/velodyne/
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```
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* ```../config/loam/backend.yml```: config file of backend optimzation
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* ```../KITTI-04/slam_res/floam_raw_08.txt```: Lidar poses estimated by F-LOAM
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* ```../data/04/velodyne/```: directory containing the Lidar PointClouds, whose filenames must be sorted by timestamp.
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* `../config/loam/backend.yml`: config file of backend optimzation
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* `../KITTI-00/slam_res/floam_raw_00.txt`: Lidar poses estimated by F-LOAM
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* `../data/00/velodyne/`: directory containing the Lidar PointClouds, whose filenames must be sorted by timestamp.
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### Expected Results
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* `../KITTI-00/KeyFrames`: KeyFrame directory includes information of KeyFrames
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* `../KITTI-00/Map.yml`: Visual Map built by ORB_SLAM
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* `../KITTI-00/FrameId.yml`: Yaml file that contains Frame indicces of KeyFrames (will saved in the same directory of "Map.yml"
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* `../KITTI-00/slam_res/Twc.txt`: KeyFrame Poses estimated by ORB_SLAM
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* `../KITTI-00/slam_res/floam_raw_00.txt`: Lidar Poses estimated by F-LOAM (the number of itmes in this file is not equal to that in `Twc.txt`)
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* `../KITTI-00/slam_res/floam_isam_00.txt`: Lidar Poses Optimized by iSAM ((the number of itmes in this file is not equal to that in `Twc.txt` but equal to `floam_raw_00.txt`)
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## Hand-eye Calibration with Regularization
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An example command for KITTI 00 Sequence:
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```
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./he_calib ../config/calib/00/he_calib.yml
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```
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* A file with 13 entries will be saved to `../KITTI/calib_res/he_rb_calib_00.txt`.
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* The calibration result of the orindary hand-eye calibration is also saved for checking: `../KITTI/calib_res/he_calib_00.txt`.
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## Global optimization
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`Nomad` library must be correctly **installed** before this step.
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An example command for KITTI 00 Sequence:
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```
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./iba_global ../config/calib/00/iba_calib_global.yml
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```
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The final calibration result will be saved to `../KITTI-00/calib_res/iba_global_pl_00.txt`
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Two parameters in `../config/calib/00/iba_calib_global.yml` are used to create variants for ablation experiments:
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```yaml
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runtime:
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err_weight: [1.0, 1.0]
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use_plane: true
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```
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* set `use_plane` to `true` and `err_weight` to `[1.0,1.0]` to apply `CBA+CA (PT+PL)` method in Table 1 of our paper (proposed).
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* set `use_plane` to `false` and `err_weight` to `[1.0,1.0]` to apply `CBA+CA (PT)` method in Table 1 of our paper.
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* set `use_plane` to `false` and `err_weight` to `[1.0,0.0]` to apply `CBA` method in Table 1 of our paper.
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Remember to set
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```yaml
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io:
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ResFile: calib_res/iba_global_baonly_00.txt
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```
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for different methods, or the prior files will be overwritten.
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## What arguments should change for other sequences</summary>
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* `../data/00/` -> `../data/xx/` for the `orb_store` program;
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* `../config/orb_ori/KITTI00-02.yaml` -> `../config/orb_ori/KITTIxx-xx.yaml`;
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* `KITTI-00` -> `KITTI-xx` for all aurgments;
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* "../data/00/velodyne/" -> "../data/xx/velodyne/";
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* "floam_raw_00.txt" -> "floam_raw_xx.txt";
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* "floam_isam_00.txt" -> "floam_isam_xx.txt";

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