ROS index logo ROS Index
  1. Home
  2. Packages
  3. multi_lidar_calibration
 
No version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

multi_lidar_calibration package from multi_lidar_calibration_ros2 repo

multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.9.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description This repo contains a ROS2 package that implements NDT & ICP registration of PCL for multiple LiDAR extrinsics calibration.
Checkout URI https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git
VCS Type git
VCS Version main
Last Updated 2023-05-06
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar 2 lidar extrinsics calibration package

Additional Links

No additional links.

Maintainers

  • Mark Jin

Authors

No additional authors.
README.md

multi lidar calibration icp

overview

  • This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
  • This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
  • Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
leaf_size voxel leaf size of approximate voxel grip filter 0.2
step_size step size of ndt registration 0.05
resolution resolution of ndt registration 0.5
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

multi_lidar_calibration_icp

parameter description default value
initial_pose initial pose guess [x, y, z, roll, pitch, yaw] in radians [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration max iteration for optimization 100
transform_epsilon transform epsilon 1e-9
max_coorespondence_distance max coorespondence distance 0.05
euclidean_fitness_epsilon euclidean fitness epsilon 0.5
ransac_outlier_rejection_threshold RANSAC outlier rejection threshold 1.1
input/source_pointcloud source pointcloud topic /rs16/points
input/target_pointcloud target pointcloud topic /rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

  1. launch the ROS2 driver of multiple LiDARs
  2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
  3. launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml
  1. you can see the calibration result in rviz2 as well as in the terminal.

lidar2lidar

Reference

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_lint_auto
autoware_lint_common
rclcpp
sensor_msgs
geometry_msgs
pcl_conversions
pcl_msgs
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
message_filters

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multi_lidar_calibration_icp.launch.xml
      • initial_pose [default: [0.0, 0.0, 0.0, 0.0, 1.57, 0.0]]
      • max_iteration [default: 100]
      • transform_epsilon [default: 1e-9]
      • max_coorespondence_distance [default: 0.05]
      • euclidean_fitness_epsilon [default: 0.5]
      • ransac_outlier_rejection_threshold [default: 1.1]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]
  • launch/multi_lidar_calibration_ndt.launch.xml
      • initial_pose [default: [0.0, 0.0, -0.4, 0.0, 1.57, 0.0]]
      • leaf_size [default: 0.2]
      • max_iteration [default: 10]
      • transform_epsilon [default: 0.001]
      • step_size [default: 0.05]
      • resolution [default: 0.5]
      • input/source_pointcloud [default: /rs16/points]
      • input/target_pointcloud [default: /rsbp/points]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibration at Robotics Stack Exchange