# velo2cam_calibration [![Build Status](https://build.ros.org/view/Ndev/job/Ndev__velo2cam_calibration__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/view/Ndev/job/Ndev__velo2cam_calibration__ubuntu_focal_amd64/)
The *velo2cam_calibration* software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:
**Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups**
[Jorge Beltrán](https://beltransen.github.io/), [Carlos Guindel](https://cguindel.github.io/), Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
**\[[Paper](https://ieeexplore.ieee.org/abstract/document/9733276)\] \[[Preprint](https://arxiv.org/abs/2101.04431)\]**
![real results](screenshots/real_results.png)
## Setup ##
This software is provided as a ROS package. To install:
1. Clone the repository into your *catkin_ws/src/* folder.
2. Install run dependencies: ```sudo apt-get install ros-<distro>-opencv-apps```
3. Build your workspace [as usual](http://wiki.ros.org/ROS/Tutorials/BuildingPackages).
## Usage ##
See [HOWTO.md](HOWTO.md) for detailed instructions on how to use this software.
To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our [Gazebo validation suite](https://github.com/beltransen/velo2cam_gazebo).
## Calibration target ##
The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.
![calibration target](screenshots/calibration_target_real_scheme_journal.png)
**Note:** Other size may be used for convenience. If so, please configure node parameters accordingly.
## Citation ##
If you use this work in your research, please consider citing the following paper:
```
@article{beltran2022,
author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},
year={2022},
doi={10.1109/TITS.2022.3155228}
}
```
A previous version of this tool is available [here](https://github.com/beltransen/velo2cam_calibration/tree/v1.0) and was described on this [paper](https://doi.org/10.1109/ITSC.2017.8317829).
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激光雷达和相机传感器设置 的自动外部校准方法 ROS 包_C++_代码_相关文件_下载
共29个文件
cpp:6个
png:6个
cfg:4个
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2022-07-14
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velo2cam_calibration软件为由LiDAR 和摄像头设备组成的传感器对以任何可能的组合实现了最先进的自动校准算法,如本文所述: 激光雷达和摄像头传感器设置的自动外部校准方法 Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups 更多详情、使用方法,请下载后细读README.md文件
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velo2cam_calibration-master.zip (29个子文件)
velo2cam_calibration-master
msg
ClusterCentroids.msg 103B
CITATION.cff 1KB
cfg
Plane.cfg 279B
Lidar.cfg 910B
Monocular.cfg 538B
Stereo.cfg 286B
screenshots
stereo_filters_1.png 285KB
calibration_target_real_scheme_journal.png 324KB
lidar_filters_1.png 337KB
real_results.png 1.75MB
stereo_filters_2.png 288KB
lidar_filters_2.png 297KB
include
velo2cam_utils.h 12KB
launch
lidar_pattern.launch 2KB
mono_pattern.launch 890B
registration.launch 1010B
stereo_pattern.launch 5KB
src
disp_masker.cpp 5KB
lidar_pattern.cpp 21KB
stereo_pattern.cpp 17KB
plane.cpp 5KB
mono_qr_pattern.cpp 22KB
velo2cam_calibration.cpp 29KB
LICENSE.md 18KB
.gitignore 246B
CMakeLists.txt 3KB
HOWTO.md 10KB
README.md 2KB
package.xml 2KB
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