Tired of Tedious LiDAR-Camera Calibration? FAST-Calib is Here to Help!

Want highly accurate LiDAR-camera extrinsic calibration without the headache? FAST-Calib offers a blazing-fast, target-based solution for your LiDAR-camera systems. Achieve calibration results in mere seconds – we’re talking around 2 seconds!

Key Benefits of FAST-Calib: Why You'll Love It

• Speed Demon: No more waiting around. Get accurate calibration results practically instantly.
• Universal LiDAR Support: Works flawlessly with solid-state and mechanical LiDAR.
• No Initialization Needed: Forget about providing initial extrinsic parameters. FAST-Calib figures it out automatically.
• Simple Setup: Makes extrinsic calibration as easy as calibrating your camera's intrinsic parameters.

In short, FAST-Calib automates the tedious process of LiDAR and camera alignment. Think "plug and play" for your sensor setup!

Get Started with FAST-Calib: A Quick Guide

Here's how to get up and running with FAST-Calib:

1. Prerequisites: Ensure you have PCL version 1.8 or higher and OpenCV version 4.0 or greater installed.
2. Data Preparation: Place your static acquisition data in the calib_data folder. This includes:
   • A ROS bag file containing point cloud messages.
   • The corresponding image data.
3. Run the Calibration: Launch the calibration process with this simple command: roslaunch fast_calib calib.launch.

Customizing FAST-Calib for Your Specific Needs:

Ready to use FAST-Calib with your own sensor suite? Here's what you need to do:

1. Calibration Target: Customize your calibration target according to your setup.
2. Data Recording: Record data into a ROS bag file.
3. Intrinsic Matrix: Provide the intrinsic matrix of your camera in the qr_params.yaml file.
4. Distance Filter: Set a distance filter in qr_params.yaml to isolate the board point cloud. Stray points are okay!
5. Calibrate! You're ready to achieve accurate LiDAR-camera calibration.

Dive Deeper: Algorithm Details and Further Information

A related article providing in-depth information about the LiDAR camera calibration process is coming soon. The calibration target design is based on the velo2cam_calibration approach. For a detailed explanation of the algorithm's workings, consult the documentation.

Got questions? Contact Chunran Zheng at [email protected] for further assistance.