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multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
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

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

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
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

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