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## CategoryPackage
= Overview =
The ''velo2cam_calibration'' software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:


'''Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups'''  

[[https://beltransen.github.io/|Jorge Beltrán]], [[https://cguindel.github.io/|Carlos Guindel]], Arturo de la Escalera, Fernando García  

IEEE Transactions on Intelligent Transportation Systems, 2022  

'''[ [[https://ieeexplore.ieee.org/abstract/document/9733276|Paper]] ] [ [[https://arxiv.org/abs/2101.04431|Preprint]] ]'''


{{attachment:real_results.png||width="750px"}}

= Setup =
This software is provided as a ROS package. To install:

   1. Clone the repository into your ''catkin_ws/src/'' folder.

   2. Install run dependencies: ```sudo apt-get install ros-<distro>-opencv-apps```

   3. Build your workspace [[http://wiki.ros.org/ROS/Tutorials/BuildingPackages|as usual]].

= Usage =
See the [[https://github.com/beltransen/velo2cam_calibration/blob/master/HOWTO.md|HOWTO guide]] for detailed instructions on how to use this software.

To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our [[https://github.com/beltransen/velo2cam_gazebo|Gazebo validation suite]].

= Calibration target =
The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.

{{attachment:calibration_target_real_scheme_journal.png||width="750px"}}

'''Note:''' Other size may be used for convenience. If so, please configure node parameters accordingly.

= Citation =
If you use this work in your research, please consider citing the following paper:

{{{
@article{beltran2022,  
  author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},  
  journal={IEEE Transactions on Intelligent Transportation Systems},   
  title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},   
  year={2022}, 
  doi={10.1109/TITS.2022.3155228}
}
}}}

A previous version of this tool is available [[https://github.com/beltransen/velo2cam_calibration/tree/v1.0|here]] and was described on this [[https://doi.org/10.1109/ITSC.2017.8317829|paper]].