About your method

[shliang0603]

@ehong-tl Hi, thank you for your excellent work. Could you please explain the principle of your calibration or the paper you refer to ? I'm a novice and I don't know about this.

[ehong-tl]

Dear @shliang0603 ,

My program is here to help to collect data require for camera-lidar extrinsic calibration.

As for the method to acquire the extrinsic parameter, I'm using cv2 built in solvePnP method. You can check the Theory part here if you are interested. It is just solving of the generic camera model for solution.