The velo2cam_calibration software implements an Automatic Calibration algorithm for Lidar-Stereo camera setups [1]. This software is provided as a ROS package.
Package developed at Intelligent Systems Laboratory, Universidad Carlos III de Madrid.
cloud1 (sensor_msgs/PointCloud2) Laser pointcloud
cloud1 (sensor_msgs/PointCloud2) Laser pointcloud
cloud1 (velo2cam_calibration::ClusterCentroids) cloud2 (velo2cam_calibration::ClusterCentroids)
tf relating both sensors
Some sample .launch files are provided in this package. The simplest way to launch the algorithm is by running the three main ROS nodes as follows:
roslaunch velo2cam_calibration lidar_pattern.launch
roslaunch velo2cam_calibration stereo_pattern.launch
roslaunch velo2cam_calibration velo2cam_calibration.launch
Note: In order to test the algorithm with a proper ground truth, a simulator environment in Gazebo is provided here
[1] "Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups" submitted to International Conference on Intelligent Transportation Systems (ITSC) 2017.
For citation details, please contact Jorge Beltran (jbeltran AT ing.uc3m DOT es) or Carlos Guindel (cguindel AT ing.uc3m DOT es).