FAST-Calib

FAST-Calib is an automatic target-based extrinsic calibration tool for LiDAR-camera systems (eg., FAST-LIVO2).

Key highlights include:

1. Support solid-state and mechanical LiDAR.
2. No need for any initial extrinsic parameters.
3. 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 [email protected].

Left: Example of circle extraction from Mid360 point cloud | Right: Point cloud colored with calibrated extrinsic.

1. Prerequisites

PCL>=1.8, OpenCV>=4.0.

2. Run our examples

1. Prepare the static acquisition data in calib_data folder (see sample data from Mid360, Avia and Ouster):

• rosbag containing point cloud messages
• corresponding image

2. Run the calibration process:

roslaunch fast_calib calib.launch

3. Run on your own sensor suite

1. Customize the calibration target in the image below.
2. Record data to rosbag.
3. Provide the instrinsic matrix in qr_params.yaml.
4. Set distance filter in qr_params.yaml for board point cloud (extra points are acceptable).
5. Calibrate now!

Left: Actual calibration target | Right: Technical drawing with annotated dimensions.

4. Appendix

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.

5. Acknowledgments

Special thanks to Jiaming Xu for his support, Haotian Li for the equipment, and the velo2cam_calibration algorithm.