依赖：
- Cmake
- opencv 2.4
- eigen 3
- PCL 1.10
- Pangolin 0.6
opencv-2.4.13.7（只需要opencv2的库）
编译：
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local/opencv24 -DBUILD_opencv_python=OFF -DWITH_FFMPEG=OFF -DENABLE_PRECOMPILED_HEADERS=OFF -DWITH_CUDA=OFF -DWITH_FFMPEG=OFF ..
make -j4
sudo make install
报错no find linux/videodev.h
sudo apt-get install libv4l-dev
sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h
连接库
export LD_LIBRARY_PATH=/usr/local/opencv24/lib:$LD_LIBRARY_PATH
Pangolin 0.6
git clone -b v0.6 https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
make -j4
sudo make install
manual_calib
mkdir build && cd build
cmake ..
make -j4
运行：
./bin/run_lidar2camera data/camera_image.png data/point_cloud.pcd data/center_camera-intrinsic.json data/top_center_lidar-to-center_camera-extrinsic.json
其中center_camera-intrinsic.json存放相机内参，top_center_lidar-to-center_camera-extrinsic.json 存放雷达与相机的旋转矩阵。
