The velo2cam_calibration software implements an Automatic Calibration algorithm for Lidar-Stereo camera setups [1]. This software is provided as a ROS package.

Package developed at Intelligent Systems Laboratory, Universidad Carlos III de Madrid.

cloud1 (sensor_msgs/PointCloud2) Laser pointcloud

cloud1 (sensor_msgs/PointCloud2) Laser pointcloud

cloud1 (velo2cam_calibration::ClusterCentroids) cloud2 (velo2cam_calibration::ClusterCentroids)

tf relating both sensors

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 lidar_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

[1] Guindel, C., Beltrán, J., Martín, D. and García, F. (2017). Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups. arXiv:1705.04085 [cs.CV] *

* Manuscript submitted to IEEE International Conference on Intelligent Transportation Systems 2017.