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lidar_camera_calibration - ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

  •    C++

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo). The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

scikit-fusion - scikit-fusion: Data fusion in Python

  •    Python

scikit-fusion is a Python module for data fusion based on recent collective latent factor models. scikit-fusion is tested to work under Python 3.

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