Package Summary
The velo2cam_calibration package
- Maintainer status: maintained
- Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- License: GPLv2
- Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)
Package Summary
The velo2cam_calibration package
- Maintainer status: maintained
- Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- License: GPLv2
- Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)
Contents
Overview
This package implements an Automatic Calibration algorithm for Lidar-Stereo camera setups [1].
Package developed at Intelligent Systems Laboratory, Universidad Carlos III de Madrid.
Nodes
stereo_pattern
Subscribed Topics
cloud1 (sensor_msgs/PointCloud2)
- Laser pointcloud
Published
Parameters
laser_pattern
Subscribed Topics
cloud1 (sensor_msgs/PointCloud2)
- Laser pointcloud
Published Topics
Parameters
velo2cam_calibration
Subscribed Topics
cloud1 (velo2cam_calibration::ClusterCentroids) cloud2 (velo2cam_calibration::ClusterCentroids)
Published Topics
tf relating both sensors
Parameters
Usage
Some sample .launch files are provided in this package. The simplest way to launch the algorithm is by running the three main ROS nodes as follows:
roslaunch velo2cam_calibration laser_pattern.launch
roslaunch velo2cam_calibration stereo_pattern.launch
roslaunch velo2cam_calibration velo2cam_calibration.launch
Note: In order to test the algorithm with a proper ground truth, a simulator environment in Gazebo is provided here
Calibration target details
The following scheme shows the real size of the calibration target used by this algorithm. Measurements are given in centimeters (cm).
Note: Other size may be used for convenience. If so, please configure nodes parameters accordingly.
Citation
[1] Guindel, C., Beltrán, J., Martín, D. and García, F. (2017). Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups. IEEE International Conference on Intelligent Transportation Systems (ITSC), 674–679.
Pre-print available here
