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

ros2_camera_lidar_fusion package from ros2_camera_lidar_fusion repo

ros2_camera_lidar_fusion

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	BSD 3
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	ROS2 Package to calculate the intrinsic and extrinsic camera calibration. Adding an easy way to fuse camera and lidars
Checkout URI	https://github.com/cdonosok/ros2_camera_lidar_fusion.git
VCS Type	git
VCS Version	main
Last Updated	2025-01-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

Clemente Donoso Krauss

Authors

No additional authors.

README.md

ROS2 Camera-LiDAR Fusion

A ROS2 package for calculating intrinsic and extrinsic calibration between camera and LiDAR sensors. This repository provides an intuitive workflow to fuse data from these sensors, enabling precise projection of LiDAR points into the camera frame and offering an efficient approach to sensor fusion.

Visual Overview

| Static Sensors | Moving Sensors | |———————|——————–| | | |

Support 💖

If you find this project helpful and want to support its ongoing development, you can buy me a coffee! Every contribution helps me dedicate more time to improving and maintaining open-source software.

Get Started

Prerequisites

To run this package, ensure the following dependencies are installed:

Git: For version control and repository management.
Docker: To streamline the environment setup and execution.
NVIDIA Container Toolkit (if using an NVIDIA GPU): For hardware acceleration.

Installation

Clone the Repository

Start by cloning the repository:

git clone git@github.com:CDonosoK/ros2_camera_lidar_fusion.git

Build Using Docker

This repository includes a pre-configured Docker setup for easy deployment. To build the Docker image:

Navigate to the docker directory:

   cd ros2_camera_lidar_fusion/docker

Run the build script:

   sh build.sh

This will create a Docker image named ros2_camera_lidar_fusion.

Run the Docker Container

Once built, launch the container using:

sh run.sh

Usage

Node Overview

This package includes the following ROS2 nodes for camera and LiDAR calibration:

Node Name	Description	Output
`get_intrinsic_camera_calibration.py`	Computes the intrinsic calibration of the camera.	Camera intrinsic calibration file.
`save_sensor_data.py`	Records synchronized data from camera and LiDAR sensors.	Sensor data file.
`extract_points.py`	Allows manual selection of corresponding points between camera and LiDAR.	Corresponding points file.
`get_extrinsic_camera_calibration.py`	Computes the extrinsic calibration between camera and LiDAR sensors.	Extrinsic calibration file.
`lidar_camera_projection.py`	Projects LiDAR points into the camera frame using intrinsic and extrinsic calibration parameters.	Visualization of projected points.

Workflow

Follow these steps to perform calibration and data fusion:

Intrinsic Calibration
Run get_intrinsic_camera_calibration.py to generate the intrinsic calibration file for the camera.
Data Recording
Use save_sensor_data.py to capture and save synchronized data from the camera and LiDAR.
Point Correspondence
Execute extract_points.py to manually select corresponding points between camera and LiDAR.
Extrinsic Calibration
Run get_extrinsic_camera_calibration.py to compute the transformation matrix between camera and LiDAR.
LiDAR Projection

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

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 `ros2_camera_lidar_fusion` at Robotics Stack Exchange

API Docs Browse Code

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