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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

Package symbol

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange

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

multi_lidar_calibrator package from multi_lica repo

multi_lidar_calibrator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.0.1
License LGPL-3.0 license
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications
Checkout URI https://github.com/tumftm/multi_lica.git
VCS Type git
VCS Version main
Last Updated 2025-02-17
Dev Status UNKNOWN
Released UNRELEASED
Tags calibration lidar av
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications

Additional Links

No additional links.

Maintainers

  • Andrii Chumak
  • Dominik Kulmer

Authors

No additional authors.

Multi - LiCa

Multi - LiDAR-to-LiDAR calibration framework for ROS 2 and non-ROS applications [![Linux](https://img.shields.io/badge/os-linux-blue.svg)](https://www.linux.org/) [![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/) [![ROS2humble](https://img.shields.io/badge/ros2-humble-blue.svg)](https://docs.ros.org/en/humble/index.html) [![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11088) [![DOI:10.1109/MFI62651.2024.10705773](http://img.shields.io/badge/DOI-10.1109/MFI62651.2024.10705773-00629B.svg)](https://doi.org/10.1109/MFI62651.2024.10705773)

Introduction

This project provides an extrinsic calibration framework for quickly calibrating multiple LiDAR sensors. It employs the Generalized Iterative Closest Point (GICP) algorithm for LiDAR-to-LiDAR extrinsic calibration and uses the RANdom SAmple Consensus (RANSAC) method to calibrate the pitch and z-distance to the ground of a single LiDAR, assuming other coordinates are known.

It has proven to be robust for different sensor setups and environments without the need of an initial guess.
We use a FPFH-based feature vector creation with an TEASER++ feature matching for the coarse alignment, which is used as initial guess for the GICP algorithm.

Overview

_Motion- and targetless multi - LiDAR-to-LiDAR Calibration Pipeline, developed at the Institute of Automotive Technology, TUM_

Limitations

  • Our tool was specifically developed for motionless calibration.
  • We assume that each LiDAR to be calibrated has either a directly overlapping FOV with the target LiDAR FOV or has overlap with other LiDAR(s) with overlap to the target. This can be cascading dependency to the target.
  • We assume that the ground is flat and the environment is static.
  • Input point clouds for the calibration are in sensor_msgs/PointCloud2 or in .pcd format.

Prerequisites

The bare minimum requirement for our tool is a Linux-based OS and Docker, as we provide a Docker image with our framework.
You do not need to build anything locally, but you are free to do so as described in the following section.
For the local build, you will need ROS 2 - humble, Python 3.10 with opend3d, scipy, ros2_numpy and pandas (optional).

Installation and Usage

We use submodules, therefore, use git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git

🐋 Docker Environment

  1. Build the Docker image:
   ./docker/build_docker.sh
   
  1. Run the container:
   ./docker/run_docker.sh
   

🖥 Local Build

  1. Install ROS2 humble (might work with other ROS2 distributions but wasn’t tested): https://docs.ros.org/en/humble/Installation.html

  2. Create a ROS 2 workspace:

   mkdir -p ~/ros2_ws
   cd ~/ros2_ws
   
  1. Clone the repository:
   git clone --recurse-submodules git@github.com:TUMFTM/Multi_LiCa.git
   
  1. Install dependencies:
   cd Multi_LiCa
   pip install --no-cache-dir --upgrade pip
   pip install --no-cache-dir -r requirements.txt
   
  1. Source the ROS 2 environment and build the project using colcon:
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install --packages-up-to multi_lidar_calibrator --cmake-args -DCMAKE_BUILD_TYPE=Release
   

⏯️ Usage

  1. Configure the parameters to fit your data:
   vim config/<params-file>.yaml
   

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged multi_lidar_calibrator at Robotics Stack Exchange