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Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | MIT |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
LiDAR-Camera calibration based on NID-based direct image-pointcloud registration
Additional Links
No additional links.
Maintainers
- k.koide
Authors
No additional authors.
direct_visual_lidar_calibration
This package provides a toolbox for LiDAR-camera calibration that is:
- Generalizable: It can handle various LiDAR and camera projection models including spinning and non-repetitive scan LiDARs, and pinhole, fisheye, and omnidirectional projection cameras.
- Target-less: It does not require a calibration target but uses the environment structure and texture for calibration.
- Single-shot: At a minimum, only one pairing of a LiDAR point cloud and a camera image is required for calibration. Optionally, multiple LiDAR-camera data pairs can be used for improving the accuracy.
- Automatic: The calibration process is automatic and does not require an initial guess.
- Accurate and robust: It employs a pixel-level direct LiDAR-camera registration algorithm that is more robust and accurate compared to edge-based indirect LiDAR-camera registration.
Documentation: https://koide3.github.io/direct_visual_lidar_calibration/
Docker hub: koide3/direct_visual_lidar_calibration
Dependencies
Getting started
License
This package is released under the MIT license.
Publication
Koide et al., General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox, ICRA2023, [PDF]
Contact
Kenji Koide, National Institute of Advanced Industrial Science and Technology (AIST), Japan
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name |
---|---|
catkin | |
ament_cmake | |
ament_cmake_python | |
roscpp | |
rosbag | |
rclcpp | |
rosbag2_cpp | |
cv_bridge | |
pcl_ros | |
sensor_msgs |
System Dependencies
Name |
---|
fmt |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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