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Ca2Lib is an open-source LiDAR-Camera[RGB] calibration toolbox.

🚀 Usage

You can follow our guide here

👷 Setup

We suggest running ca2lib using Docker. Simply cd into the repository and build the Docker image:

git clone git@github.com:rvp-group/ca2lib.git
cd ca2lib
./docker/build.sh

To finally start a container, simply:

./docker/run.sh <DATA-DIR>

Build from source

Assuming you already have ROS Noetic installed (if not, refer to this guide), install the requirements:

sudo apt-get install -y \
    libspdlog-dev

Clone the repository inside your catkin workspace and build the package.

cd catkin_ws/src
git clone git@github.com:rvp-group/ca2lib.git
cd ..
catkin build ca2lib

📰 News

22/02/2024: Version 0.0.0 is released!

📖 Cite us

If you use any of this code here the reference

@article{giac2024ca2lib,
    author = {Giacomini, Emanuele and Brizi, Leonardo and Di Giammarino, Luca and Salem, Omar and Perugini, Patrizio and Grisetti, Giorgio},
    title = {Ca2Lib: Simple and Accurate LiDAR-RGB Calibration Using Small Common Markers},
    journal = {Sensors},
    volume = {24},
    year = {2024},
    number = {3},
    doi = {10.3390/s24030956}
}