Lidar Stereo Calibration

This ROS 2 package provides tools for calibrating a LiDAR sensor with a stereo camera system. It is based on a simple ICP between dense stereo and LiDAR point clouds.

Features

• Support common camera models, including fisheye (pinhole, omnidirectionnal and double sphere)
• Visualization of calibration results.
• ROS 2 integration for seamless sensor data handling.

Installation

1. Clone the repository into your ROS 2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/your-repo/lidar_stereo_calib.git

2. Build the workspace:

   cd ~/ros2_ws
   colcon build

Usage

Source the workspace:

source ~/ros2_ws/install/setup.bash

Run the calibration node:

ros2 run lidar_stereo_calib calib

Configuration

Modify the config/params.yaml file to set parameters such as:

• LiDAR topic
• Stereo camera topics
• Parameters of the dense stereo algorithm and the ICP
• An initial transform to properly warmstart the ICP