a manual calibration tool for livox lidar and optical camera based on ros and reconfigure. Here is the video on bilibili
the intial extrinsic is set to $$\begin{bmatrix} 0&-1&0&0\ 0&0&-1&0\ 1&0&0&0\ 0&0&0&1\ \end{bmatrix}$$
the clored point cloud before calibration is shown below:
first exect roslaunch clm clm.launch in a terminal
open rviz and add the topic /colored_cloud
by carefully adjust the parameters after exect rqt in the terminal, we can get the extrinsic from the first terminal.
and the colored lidar point cloud after calibration is shown below:
this is a simple HOWTO, please open an issue if you have any questions!!