ROS Index
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro humble. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro kilted. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics ground_plane_calibrator interactive_camera_lidar_calibrator ceres_intrinsic_camera_calibrator intrinsic_camera_calibrator lidar_to_lidar_2d_calibrator mapping_based_calibrator marker_radar_lidar_calibrator tag_based_pnp_calibrator tag_based_sfm_calibrator point_cloud_accumulator tier4_calibration_pcl_extensions tier4_calibration_views tier4_ground_plane_utils tier4_sensor_calibration_msgs tier4_tag_utils sensor_calibration_manager sensor_calibration_tools tunable_static_tf_broadcaster |
Repository Summary
| Description | sensor calibration tools for autonomous driving and robotics |
| Checkout URI | https://github.com/tier4/calibrationtools.git |
| VCS Type | git |
| VCS Version | tier4/universe |
| Last Updated | 2025-07-31 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | computer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ground_plane_calibrator | 0.0.1 |
| interactive_camera_lidar_calibrator | 0.0.0 |
| ceres_intrinsic_camera_calibrator | 0.0.1 |
| intrinsic_camera_calibrator | 0.0.0 |
| lidar_to_lidar_2d_calibrator | 0.0.1 |
| mapping_based_calibrator | 0.0.1 |
| marker_radar_lidar_calibrator | 0.0.1 |
| tag_based_pnp_calibrator | 0.0.1 |
| tag_based_sfm_calibrator | 0.0.1 |
| point_cloud_accumulator | 0.1.0 |
| tier4_calibration_pcl_extensions | 0.1.0 |
| tier4_calibration_views | 0.0.0 |
| tier4_ground_plane_utils | 0.0.1 |
| tier4_sensor_calibration_msgs | 0.1.0 |
| tier4_tag_utils | 0.0.1 |
| sensor_calibration_manager | 0.0.0 |
| sensor_calibration_tools | 0.0.1 |
| tunable_static_tf_broadcaster | 0.0.1 |
README
Sensor Calibration Tools
Calibration tools for sensors used in autonomous driving and robotics (camera, lidar, and radar).
Table of contents
- Sensor Calibration Tools
Installation
Requirements
- Ubuntu 22.04
- ROS2 Humble
Installation alongside autoware
After installing autoware (please see source-installation page), execute the following commands:
cd autoware
wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools_autoware.repos
vcs import src < calibration_tools_autoware.repos
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Standalone installation (for non-autoware users)
The sensor calibration tools are usually used as part of the autoware ecosystem. However, they can also be used for projects outside autoware, or even outside autonomous driving. Note: due to its use in autoware, even if it is possible to use the sensor calibration tools independently, due to some light dependencies, parts of autoware still need to be downloaded, even if they are not all compiled.
The following commands present an example of how to install the sensor calibration tools and their dependencies assuming you have a ROS2 workspace called workspace (if the workspace is new, the user must also create the src directory inside the workspace):
# Install vcs (if needed, follow the instructions from https://github.com/dirk-thomas/vcstool)
sudo apt-get install python3-vcstool
# Download the calibration tools and its dependencies
cd workspace
wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools_standalone.repos
vcs import src < calibration_tools_standalone.repos
# Install all the dependencies from rosdep
rosdep install -y --from-paths `colcon list --packages-up-to sensor_calibration_tools -p` --ignore-src
# Build the sensor calibration tools. sensor_calibration_tools is a meta package that guarantees that only the related packages are compiled
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_calibration_tools
Standalone installation using Docker (for non-autoware users)
With a similar motivation to that of the previous Section, in some cases, a native build is not possible nor convenient. To accommodate those situations, we also offer the sensor calibration tools as a docker image:
# Build
DOCKER_BUILDKIT=1 docker build --ssh default -t ghcr.io/tier4/sensor-calibration-tools:2.0 -f docker/Dockerfile ..
# Run - Modify if needed
docker run --gpus all --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --device=/dev/dri:/dev/dri -it ghcr.io/tier4/sensor-calibration-tools:2.0 /bin/bash
# If user encounters issues like "Authorization required", use one of the alternatives below.
# Solution 1 (Not recommended):
xhost +local:docker
# Solution 2:
touch /tmp/.docker.xauth
chmod a+r /tmp/.docker.xauth
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f /tmp/.docker.xauth nmerge -
docker run --gpus all --net=host \
-e ROS_DOMAIN_ID=$ROS_DOMAIN_ID \
-e DISPLAY=$DISPLAY \
-e XAUTHORITY=/tmp/.docker.xauth \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /tmp/.docker.xauth:/tmp/.docker.xauth \
--device=/dev/dri:/dev/dri \
-it ghcr.io/tier4/sensor-calibration-tools:2.0 /bin/bash
File truncated at 100 lines see the full file
CONTRIBUTING
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro iron. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro melodic. Known supported distros are highlighted in the buttons above.
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calibrationtools repositorycomputer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics |
No version for distro noetic. Known supported distros are highlighted in the buttons above.