LibCals

    Lidar-Lidar Calibration

    1
    Introduction
    2
    Upload
    3
    Configure
    4
    Calibrate
    Introduction
    Learn about the Lidar-Lidar calibration process and requirements.

    What is Lidar-Lidar Calibration?

    Lidar-Lidar calibration helps you determine the precise positioning relationships between multiple lidar sensors on your ROS2-based vehicle. After calibration, you'll receive the exact transformations (translation and rotation) between your master lidar and each child lidar.

    What You'll Get

    Calibration Results:

    • Transformation matrices between your master lidar and each child lidar
    • Translation values (x, y, z) in meters
    • Rotation values (roll, pitch, yaw) in radians
    • Visual representation of the calibration results

    Data Collection Guide

    To get accurate calibration results, follow these guidelines when collecting your data:

    • Drive the vehicle slowly (under 2 km/hr) for about 30-50 meters
    • Choose an area with static objects (buildings, poles, walls) visible from multiple angles
    • Avoid areas with moving objects or people
    • Make sure all your lidars are functioning and collecting data

    Required Data Format

    Your ROS2 bag should include:

    • Point cloud data from all lidars you want to calibrate
    • Initial TF (transform) data between lidar frames
    • Data packaged in a single ZIP file
    • Supported formats: .mcap, .db3, or .sqlite

    Calibration Process:

    1. Upload your ROS2 bag data
    2. Configure your lidar settings and select the master lidar
    3. Start the calibration process
    4. Get your calibration results