ROS Index
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velo2cam_calibration package from velo2cam_calibration repovelo2cam_calibration |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | GPLv2 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/beltransen/velo2cam_calibration.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-03-16 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jorge Beltran
- Carlos Guindel
Authors
- Jorge Beltran
- Carlos Guindel
velo2cam_calibration 
The velo2cam_calibration software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups
Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
[Paper] [Preprint]
Setup
This software is provided as a ROS package. To install:
- Clone the repository into your catkin_ws/src/ folder.
- Install run dependencies:
sudo apt-get install ros-<distro>-opencv-apps - Build your workspace as usual.
Usage
See HOWTO.md for detailed instructions on how to use this software.
To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our Gazebo validation suite.
Calibration target
The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.
Note: Other size may be used for convenience. If so, please configure node parameters accordingly.
Citation
If you use this work in your research, please consider citing the following paper:
@article{beltran2022,
author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},
year={2022},
doi={10.1109/TITS.2022.3155228}
}
A previous version of this tool is available here and was described on this paper.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| cv_bridge | |
| image_transport | |
| message_filters | |
| roscpp | |
| sensor_msgs | |
| std_msgs | |
| stereo_msgs | |
| tf | |
| tf_conversions | |
| image_geometry | |
| pcl_ros | |
| dynamic_reconfigure | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| tinyxml |
Dependant Packages
Launch files
- launch/registration.launch
-
- sensor1_type [default: lidar]
- sensor2_type [default: mono]
- sensor1_id [default: 0]
- sensor2_id [default: 0]
- launch/lidar_pattern.launch
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- stdout [default: screen]
- cloud_topic [default: velodyne_points]
- sensor_id [default: 0]
- launch/stereo_pattern.launch
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- stdout [default: screen]
- camera_name [default: /stereo_camera]
- image_topic [default: image_rect_color]
- frame_name [default: stereo_camera]
- sensor_id [default: 0]
- launch/mono_pattern.launch
-
- stdout [default: screen]
- camera_name [default: /mono_camera]
- image_topic [default: image_color]
- frame_name [default: mono_camera]
- sensor_id [default: 0]
Messages
Services
Plugins
Recent questions tagged velo2cam_calibration at Robotics Stack Exchange
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velo2cam_calibration package from velo2cam_calibration repovelo2cam_calibration |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | GPLv2 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/beltransen/velo2cam_calibration.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-03-16 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jorge Beltran
- Carlos Guindel
Authors
- Jorge Beltran
- Carlos Guindel
velo2cam_calibration
The velo2cam_calibration software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups
Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
[Paper] [Preprint]
Setup
This software is provided as a ROS package. To install:
- Clone the repository into your catkin_ws/src/ folder.
- Install run dependencies:
sudo apt-get install ros-<distro>-opencv-apps - Build your workspace as usual.
Usage
See HOWTO.md for detailed instructions on how to use this software.
To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our Gazebo validation suite.
Calibration target
The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.
Note: Other size may be used for convenience. If so, please configure node parameters accordingly.
Citation
If you use this work in your research, please consider citing the following paper:
@article{beltran2022,
author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},
year={2022},
doi={10.1109/TITS.2022.3155228}
}
A previous version of this tool is available here and was described on this paper.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| cv_bridge | |
| image_transport | |
| message_filters | |
| roscpp | |
| sensor_msgs | |
| std_msgs | |
| stereo_msgs | |
| tf | |
| tf_conversions | |
| image_geometry | |
| pcl_ros | |
| dynamic_reconfigure | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| tinyxml |
Dependant Packages
Launch files
- launch/registration.launch
-
- sensor1_type [default: lidar]
- sensor2_type [default: mono]
- sensor1_id [default: 0]
- sensor2_id [default: 0]
- launch/lidar_pattern.launch
-
- stdout [default: screen]
- cloud_topic [default: velodyne_points]
- sensor_id [default: 0]
- launch/stereo_pattern.launch
-
- stdout [default: screen]
- camera_name [default: /stereo_camera]
- image_topic [default: image_rect_color]
- frame_name [default: stereo_camera]
- sensor_id [default: 0]
- launch/mono_pattern.launch
-
- stdout [default: screen]
- camera_name [default: /mono_camera]
- image_topic [default: image_color]
- frame_name [default: mono_camera]
- sensor_id [default: 0]