{"id":13436980,"url":"https://github.com/koide3/direct_visual_lidar_calibration","last_synced_at":"2025-04-07T04:19:14.417Z","repository":{"id":61346157,"uuid":"535907213","full_name":"koide3/direct_visual_lidar_calibration","owner":"koide3","description":"A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]","archived":false,"fork":false,"pushed_at":"2024-09-22T00:29:02.000Z","size":835,"stargazers_count":742,"open_issues_count":45,"forks_count":113,"subscribers_count":18,"default_branch":"main","last_synced_at":"2024-10-30T03:44:39.228Z","etag":null,"topics":["calibration","camera","lidar","nid","ros","ros2"],"latest_commit_sha":null,"homepage":"https://koide3.github.io/direct_visual_lidar_calibration/","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/koide3.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-09-13T01:06:03.000Z","updated_at":"2024-10-29T14:51:32.000Z","dependencies_parsed_at":"2024-11-10T04:17:45.251Z","dependency_job_id":"12bf9973-5967-4caa-a16f-0fd3cacd3ded","html_url":"https://github.com/koide3/direct_visual_lidar_calibration","commit_stats":{"total_commits":63,"total_committers":2,"mean_commits":31.5,"dds":0.04761904761904767,"last_synced_commit":"82df9955c2bf43a478690d45f9283493ca01343d"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fdirect_visual_lidar_calibration","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fdirect_visual_lidar_calibration/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fdirect_visual_lidar_calibration/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fdirect_visual_lidar_calibration/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/koide3","download_url":"https://codeload.github.com/koide3/direct_visual_lidar_calibration/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247589826,"owners_count":20963025,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["calibration","camera","lidar","nid","ros","ros2"],"created_at":"2024-07-31T03:00:53.477Z","updated_at":"2025-04-07T04:19:14.377Z","avatar_url":"https://github.com/koide3.png","language":"C++","funding_links":[],"categories":["C++","Tools"],"sub_categories":["Australia"],"readme":"# direct_visual_lidar_calibration\n\nThis package provides a toolbox for LiDAR-camera calibration that is: \n\n- **Generalizable**: It can handle various LiDAR and camera projection models including spinning and non-repetitive scan LiDARs, and pinhole, fisheye, and omnidirectional projection cameras.\n- **Target-less**: It does not require a calibration target but uses the environment structure and texture for calibration.\n- **Single-shot**: At a minimum, only one pairing of a LiDAR point cloud and a camera image is required for calibration. Optionally, multiple LiDAR-camera data pairs can be used for improving the accuracy.\n- **Automatic**: The calibration process is automatic and does not require an initial guess.\n- **Accurate and robust**: It employs a pixel-level direct LiDAR-camera registration algorithm that is more robust and accurate compared to edge-based indirect LiDAR-camera registration.\n\n**Documentation: [https://koide3.github.io/direct_visual_lidar_calibration/](https://koide3.github.io/direct_visual_lidar_calibration/)**  \n**Docker hub: [koide3/direct_visual_lidar_calibration](https://hub.docker.com/repository/docker/koide3/direct_visual_lidar_calibration)**\n\n[![Build](https://github.com/koide3/direct_visual_lidar_calibration/actions/workflows/push.yaml/badge.svg)](https://github.com/koide3/direct_visual_lidar_calibration/actions/workflows/push.yaml) [![Docker Image Size (latest by date)](https://img.shields.io/docker/image-size/koide3/direct_visual_lidar_calibration)](https://hub.docker.com/repository/docker/koide3/direct_visual_lidar_calibration)\n\n![213393920-501f754f-c19f-4bab-af82-76a70d2ec6c6](https://user-images.githubusercontent.com/31344317/213427328-ddf72a71-9aeb-42e8-86a5-9c2ae19890e3.jpg)\n\n[Video](https://www.youtube.com/watch?v=7TM7wGthinc\u0026feature=youtu.be)\n\n## Dependencies\n\n- [ROS1/ROS2](https://www.ros.org/)\n- [PCL](https://pointclouds.org/)\n- [OpenCV](https://opencv.org/)\n- [GTSAM](https://gtsam.org/)\n- [Ceres](http://ceres-solver.org/)\n- [Iridescence](https://github.com/koide3/iridescence)\n- [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork) [optional]\n\n## Getting started\n\n1. [Installation](https://koide3.github.io/direct_visual_lidar_calibration/installation/) / [Docker images](https://koide3.github.io/direct_visual_lidar_calibration/docker/)\n2. [Data collection](https://koide3.github.io/direct_visual_lidar_calibration/collection/)\n3. [Calibration example](https://koide3.github.io/direct_visual_lidar_calibration/example/)\n4. [Program details](https://koide3.github.io/direct_visual_lidar_calibration/programs/)\n\n## License\n\nThis package is released under the MIT license.\n\n## Publication\n\nKoide et al., General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox, ICRA2023, [[PDF]](https://staff.aist.go.jp/k.koide/assets/pdf/icra2023.pdf)\n\n## Contact\n\nKenji Koide, National Institute of Advanced Industrial Science and Technology (AIST), Japan\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkoide3%2Fdirect_visual_lidar_calibration","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkoide3%2Fdirect_visual_lidar_calibration","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkoide3%2Fdirect_visual_lidar_calibration/lists"}