ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.
Reference
CONTRIBUTING
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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 | 2026-02-03 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| multi_lidar_calibration | 0.9.0 |
README
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.
- Ubuntu 22.04
- ROS2 Humble
- PCL library
- pcl_ros
- tf2
- tf2_ros
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
- launch the ROS2 driver of multiple LiDARs
- replace the
source_pointcloudandtarget_pointcloudwith you pointcloud topics parameters in the launch file. - launch calibrating program by executing the command below
ros2 launch multi_lidar_calibration multi_lidar_calibration_ndt.launch.xml
- you can see the calibration result in rviz2 as well as in the terminal.