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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