multisensor_calibration

An actively maintained universal calibration toolbox for assisted, target-based multi-sensor calibration with ROS 1 and ROS 2 support. It provides a variety of methods and applications to calibrate complex multi-sensor systems, e.g.

• Extrinsic Camera-LiDAR Calibration,
• Extrinsic Camera-Reference Calibration,
• Extrinsic LiDAR-LiDAR Calibration,
• Extrinsic LiDAR-Reference Calibration, and
• Extrinsic LiDAR-Vehicle Calibration (prototype).

The software is licensed under the new BSD 3-Clause license. If you use this project for your research, please cite:

TODO: add bibtex

The multisensor_calibration is released as an official package for ROS 2 and can be installed with apt-get. Since ROS 1 is soon end-of-life, there will be no official release for ROS 1. However, there is a version of the source code available for ROS 1 under the branch noetic.

Acknowledgement: This software was developed as part of the projects AKIT-PRO (grant no. 13N15673) and ROBDEKON – Robotic Systems for Decontamination in Hazardous Environments (grant nos. 13N14674 and 13N16538), funded by the Federal Ministry of Education and Research (BMBF) under the German Federal Government’s Research for Civil Security program.

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Continuous Integration:

Service	devel	main
GitHub

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Contents:

• Getting Started
  • Requirements
  • Build
  • Run
  • Documentation
• Contributing
• License

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Getting Started

Requirements

Basic catkin requirements can be installed by calling following command from the top of the catkin workspace:

rosdep install -y -r --from-paths src --ignore-src

Further requirements:

• PCL
• OpenCV
• Qt
• small_gicp: This is included as git-submodule and will be cloned and built on the first build. It is licensed under the MIT-License.
• OpenMP (optional): This is used to parallelize and speed up the processing of each point in the point cloud. If not found by CMake the processing will be done sequentially.
• Doxygen (optional): If available, this Doxygen documentation will be build automatically.

Build

1. Clone repository:

   git clone git@github.com:FraunhoferIOSB/multisensor_calibration.git

2. (OPTIONAL) Clone and build 'small_gicp'.
   If this step is omitted, it will be executed as part of the first build.

   cd multisensor_calibration && ./thirdparty/clone_small_gicp.sh && ./thirdparty/build_and_install_small_gicp.sh

3. Initialize rosdep and install dependencies:

   sudo rosdep init
   rosdep update
   rosdep install --from-paths src -y --ignore-src

4. Run colcon to build from source:
   To build in 'Debug' mode add -DCMAKE_BUILD_TYPE=Debug to catkin command. If 'CMAKE_BUILD_TYPE' omitted, multisensor_calibration will be build in 'Release' mode.

   MAKEFLAGS='-j 8' colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Run

ros2 launch multisensor_calibration multi_sensor_calib_example.launch.py

Documentation

See the user documentation for basic usage, tutorials and workflows.