FAST-Calib is an automatic target-based extrinsic calibration tool for LiDAR-camera systems (eg., FAST-LIVO2).
Key highlights include:
- Support solid-state and mechanical LiDAR.
- No need for any initial extrinsic parameters.
- Achieve highly accurate calibration results in just 2 seconds.
In short, it makes extrinsic calibration as simple as intrinsic calibration.
📬 For further assistance or inquiries, please feel free to contact Chunran Zheng at zhengcr@connect.hku.hk.
Left: Example of circle extraction from Mid360 point cloud. Right: Point cloud colored with calibrated extrinsic.
PCL>=1.8, OpenCV>=4.0.
- Prepare the static acquisition data in
calib_datafolder (see sample data from Mid360, Avia and Ouster):
- rosbag containing point cloud messages
- corresponding image
- Run the calibration process:
roslaunch fast_calib calib.launch- Customize the calibration target.
- Record data to rosbag.
- Provide the instrinsic matrix in
qr_params.yaml. - Set distance filter in
qr_params.yamlfor board point cloud (extra points are acceptable). - Calibrate now!
Related article is coming soon...
The calibration target design is based on the velo2cam_calibration.
For further details on the algorithm workflow, see this document.
Special thanks to Jiaming Xu for his support, Haotian Li for the equipment, and the velo2cam_calibration algorithm.