multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

Repository Summary

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 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)

Packages

Name Version
multi_lidar_calibration 0.9.0

README

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

CONTRIBUTING

No CONTRIBUTING.md found.

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository

multi_lidar_calibration_ros2 repository