LiDAR-Camera Calibration using 3D-3D Point correspondences

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro melodic showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange

No version for distro noetic showing kinetic. Known supported distros are highlighted in the buttons above.

lidar_camera_calibration package from lidar_camera_calibration repo

lidar_camera_calibration

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	0.0.1
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ankitdhall/lidar_camera_calibration.git
VCS Type	git
VCS Version	master
Last Updated	2023-04-04
Dev Status	UNMAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package to find a rigid-body transformation between a LiDAR and a camera

Additional Links

Website

Maintainers

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan

Authors

No additional authors.

LiDAR-Camera Calibration using 3D-3D Point correspondences

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, KM Krishna

Did you find this package useful and would like to contribute? :smile:
See how you can contribute and make this package better for future users. Go to Contributing section. :hugs:

ROS package to calibrate a camera and a LiDAR.

alt text

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo).

The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

For more details please refer to our paper.

Citing `lidar_camera_calibration`

Please cite our work if lidar_camera_calibration and our approach helps your research.

@article{2017arXiv170509785D,
   author = {{Dhall}, A. and {Chelani}, K. and {Radhakrishnan}, V. and {Krishna}, K.~M.
    },
    title = "{LiDAR-Camera Calibration using 3D-3D Point correspondences}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1705.09785},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition},
     year = 2017,
    month = may
}

Setup and Installation

Please follow the installation instructions for your Ubuntu Distrubtion here on the Wiki

Contributing

As an open-source project, your contributions matter! If you would like to contribute and improve this project consider submitting a pull request. That way future users can find this package useful just like you did. Here is a non-exhaustive list of features that can be a good starting point:

Iterative process with ~~weighted~~ average over multiple runs
Passing Workflows for Kinetic, Melodic and Noetic
Hesai and Velodyne LiDAR options (see Getting Started)
Integrate LiDAR hardware from other manufacturers
Automate process of marking line-segments
Github Workflow with functional test on dummy data
Support for upcoming Linux Distros
Support for running the package in ROS2
Tests to improve the quality of the project

Getting Started

There are a couple of configuration files that need to be specfied in order to calibrate the camera and the LiDAR. The config files are available in the lidar_camera_calibration/conf directory. The find_transform.launch file is available in the lidar_camera_calibration/launch directory.

config_file.txt

1280 720
-2.5 2.5
-4.0 4.0
0.0 2.5
0.05
2
0
611.651245 0.0 642.388357 0.0
0.0 688.443726 365.971718 0.0
0.0 0.0 1.0 0.0
1.57 -1.57 0.0
0

The file contains specifications about the following:

image_width image_height
x- x+
y- y+
z- z+
cloud_intensity_threshold
number_of_markers
use_camera_info_topic?

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	std_msgs
	rospy
	roscpp
	cv_bridge
	camera_info_manager
	image_transport
	image_geometry
	velodyne_msgs
	velodyne_pointcloud
	velodyne_pcl
	pcl_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

dependencies/aruco_mapping/launch/aruco_mapping.launch
dependencies/aruco_ros/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
dependencies/aruco_ros_old/aruco_ros/launch/double.launch
- - marker1Id [default: 582]
  - marker2Id [default: 26]
  - markerSize [default: 0.04]
  - eye [default: left]
  - dct_normalization [default: True]
  - dct_filter_size [default: 2]
  - marker1_frame [default: marker_hand_frame]
  - marker2_frame [default: marker_object_frame]
dependencies/aruco_ros_old/aruco_ros/launch/marker_publisher.launch
- - markerSize [default: 0.05]
  - side [default: left]
  - ref_frame [default: base]
dependencies/aruco_ros_old/aruco_ros/launch/single.launch
- - markerId [default: 582]
  - markerSize [default: 0.034]
  - eye [default: left]
  - marker_frame [default: aruco_marker_frame]
  - ref_frame [default: ]
  - corner_refinement [default: LINES]
launch/find_transform.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_camera_calibration` at Robotics Stack Exchange