multi lidar calibration icp

overview

• This ROS2 node of LiDAR 2 LiDAR extrinsic calibration.
• This ROS2 node is an implementation of PCL regstration that using ICP and [NDT]https://en.wikipedia.org/wiki/Normal_distributions_transform#:~:text=The%20normal%20distributions%20transform%20(NDT,working%20at%20University%20of%20Tübingen.).
• Thanks [https://github.com/wutaoo] for this inspiration multi_lidar_calibration.

parameters

multi_llidar_calibration_ndt

parameter	description	default value
initial_pose	initial pose guess [x, y, z, roll, pitch, yaw] in radians	[0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration	max iteration for optimization	100
transform_epsilon	transform epsilon	1e-9
leaf_size	voxel leaf size of approximate voxel grip filter	0.2
step_size	step size of ndt registration	0.05
resolution	resolution of ndt registration	0.5
input/source_pointcloud	source pointcloud topic	/rs16/points
input/target_pointcloud	target pointcloud topic	/rsbp/points

multi_lidar_calibration_icp

parameter	description	default value
initial_pose	initial pose guess [x, y, z, roll, pitch, yaw] in radians	[0.0, 0.0, 0.0, 0.0, 1.57, 0.0]
max_iteration	max iteration for optimization	100
transform_epsilon	transform epsilon	1e-9
max_coorespondence_distance	max coorespondence distance	0.05
euclidean_fitness_epsilon	euclidean fitness epsilon	0.5
ransac_outlier_rejection_threshold	RANSAC outlier rejection threshold	1.1
input/source_pointcloud	source pointcloud topic	/rs16/points
input/target_pointcloud	target pointcloud topic	/rsbp/points

How To Use

There are 2 options for the multi-LiDAR extrinsics calibration, you can choose either ICP or NDT method. We are highly recommend you to use NDT method.

Prerequisites

if you have already installed Autoware.core/universe in your machine, you do not have to install these libraries below.

• Ubuntu 22.04
• ROS2 Humble
• PCL library
• pcl_ros
• tf2
• tf2_ros

Clone The Repository

mkdir calibration_ws
mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/pixmoving-moveit/multi_lidar_calibration_ros2.git

Compile The Package

cd calibration_ws
colcon build

Calibrate Multiple LiDARs

1. launch the ROS2 driver of multiple LiDARs
2. replace the source_pointcloud and target_pointcloud with you pointcloud topics parameters in the launch file.
3. launch calibrating program by executing the command below

ros2 launch multi_lidar_calibration multi_lidar_calbiration_ndt.launch.xml

4. you can see the calibration result in rviz2 as well as in the terminal.

Reference

• lidar2lidar calibration