Camera LiDAR Calibration ROS Package Tutorial 

Thank you :D

Thanks!

Thank you! I appreciate it :)

Unfortunately at the moment if you need to calibrate multiple cameras and lidars you'll have to individually calibrate each lidar to all cameras. Alternatively, you could try inferring the transforms i.e. if you did lidar1-camera1, lidar1-camera2, then you could infer the calibration of camera 1-camera2; though this is less accurate.

@@Ts4iD Okey thanks for suggestions. And one more question did you find intrinsic parameters for camera and lidar -individually- by yourself or founded by manufacturers?

@@nisa_ilhan Intrinsic parameters of the cameras can be found using the OpenCV library, for the Lidar the manufacturer will provide its details.

@@STEPHANYBERRIO Thank you Stephany. I'm working on Multiple LiDAR, Multiple Types Cameras calibration if I'll achieve, let you know. :)

We presume so, but we haven't tested it yet on ouster lidars.

VLP-16 and Baraja Lidars

You can, however this package currently only supports sensor data in the form of ros messages (i.e. using bags or live sensor data). You can try to get your data into the ROS message formats or alternatively, modify the code.

We do provide other ROS distortion models like rational_polynomial or plumb_bob however they haven't been extensively tested. Unfortunately, the university GitLab doesn't let non-university individuals open an issue. If you have any other questions, you can contact me at d.tsai@acfr.usyd.edu.au

@@darrentsai2655 I see the paper. I find that LiDAR is left-handed coordinate in the Fig. 7 top-right. Is it right ? The other sensor is right-handed coordinate. Because I set the same configuration(vlp-16 and realsense) like as you, the calculated value(-1.57, 0, -1.57) has a negative sign. I think that the value is must positive. Thank you.

@@顏隆-v6k Hi yes you are correct, thank you for pointing that out. I've corrected it for the final submission of the paper. Also we've ported over the code base to github at github.com/acfr/cam_lidar_calibration and you can now create an issue.

For stereo camera, one way to do it would be to stitch both images into a single image, then use the tool as you would with a single camera-lidar pair. Another way is to calibrate with one camera-lidar pair, then use the transforms from that camera to the 2nd camera in order to get the calibration of the 2nd camera-lidar pair. If you do this, the calibration may be less accurate, however. The last way is to calibrate twice with this tool for each camera.

I ignored this warning and it still works fine for me.

I have the same problem,have you finished this problem?

@@Andy_scala发布的点云话题必须是velodyne格式，如果使用其他品牌的激光雷达，需要进行格式转换，我转换后重新发布话题就可以了，希望能帮到你

I am using a Velodyne sensor, but I can't filter the point cloud with rqt. How can this be resolved @user-dp4kb1hc2r ?