4.10.2 radar2lidar标定
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参考教程：
1. 查看系统环境
要运行本仿真程序，需要保证当前环境为ubuntu20.04+ros-noetic-desktop-full
查看ubuntu版本：
rosnoetic@rosnoetic-VirtualBox:~$ **lsb_release -a**
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 20.04.6 LTS
**Release: 20.04**
Codename: focal
可知，当前ubuntu版本满足20.04
查看ros版本：
rosnoetic@rosnoetic-VirtualBox:~$ **rosversion -d**
**noetic**
可知，当前ros版本满足noetic
2. 安装radar2lidar校准
2.1 安装Pangolin
ctrl+alt+T打开终端，安装依赖
rosnoetic@rosnoetic-VirtualBox:~$ **sudo apt-get install libglew-dev**
将Pangolin-0.6.zip移动到主目录下
点击Pangolin-0.6.zip，右键，选择“提取到此处”
cmake编译：
rosnoetic@rosnoetic-VirtualBox:~$ **cd Pangolin-0.6/**
rosnoetic@rosnoetic-VirtualBox:~/Pangolin-0.6$ **mkdir build**
rosnoetic@rosnoetic-VirtualBox:~/Pangolin-0.6$ **cd build/**
rosnoetic@rosnoetic-VirtualBox:~/Pangolin-0.6/build$ **cmake ..**
-
cmake ..
rosnoetic@rosnoetic-VirtualBox:~/Pangolin-0.6/build$ **make -j4**
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make -j4
rosnoetic@rosnoetic-VirtualBox:~/Pangolin-0.6/build$ **sudo make install**
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sudo make install
2.2 安装源码
ctrl+alt+T安装json库，并链接到/usr/include/json路径：
rosnoetic@rosnoetic-VirtualBox:~$ **sudo apt-get install libjsoncpp-dev**
rosnoetic@rosnoetic-VirtualBox:~$ **sudo ln -s /usr/include/jsoncpp/json/ /usr/include/json**
ctrl+alt+T打开终端，执行如下指令下载源码：
rosnoetic@rosnoetic-VirtualBox:~$ **git clone https://github.com/AbangLZU/SensorsCalibration.git**
修改SensorsCalibration/radar2lidar/manual_calib/CMakeLists.txt，添加代码：set( CMAKE_CXX_STANDARD 14)。
cmake_minimum_required(VERSION 2.8.3)
project(RadarToLidar)
set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
**set( CMAKE_CXX_STANDARD 14)**
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
link_directories(${Pangolin_LIBRARY_DIRS})
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
find_package(Boost REQUIRED system)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${EIGEN_ROOT})
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/src)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
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 ${OpenCV_LIBS} ${Boost_SYSTEM_LIBRARY})
add_executable(run_radar2lidar src/run_radar2lidar.cpp)
target_link_libraries(run_radar2lidar ${PROJECT_NAME})
target_link_libraries(run_radar2lidar ${PCL_LIBRARIES})
target_link_libraries(run_radar2lidar ${Pangolin_LIBRARIES})
cmake编译：
rosnoetic@rosnoetic-VirtualBox:~$ **cd SensorsCalibration/radar2lidar/manual_calib/**
rosnoetic@rosnoetic-VirtualBox:~/SensorsCalibration/radar2lidar/manual_calib$ **mkdir build**
rosnoetic@rosnoetic-VirtualBox:~/SensorsCalibration/radar2lidar/manual_calib$ **cd build/**
rosnoetic@rosnoetic-VirtualBox:~/SensorsCalibration/radar2lidar/manual_calib/build$ **cmake ..**
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cmake ..
rosnoetic@rosnoetic-VirtualBox:~/SensorsCalibration/radar2lidar/manual_calib/build$ **make**
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make
3. 运行
ctrl+alt+T打开终端，执行如下指令：
rosnoetic@rosnoetic-VirtualBox:~$ **cd SensorsCalibration/radar2lidar/manual_calib/**
rosnoetic@rosnoetic-VirtualBox:~/SensorsCalibration/radar2lidar/manual_calib$ **./bin/run_radar2lidar data/lidar.pcd data/front_radar.csv data/front_radar-to-top_center_lidar-extrinsic.json**
点击左侧的按钮，即可调整相应的参数，点击Save Image保存参数
保存的参数将在manual_calib文件夹下。