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ethz-asl / lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
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Looking for the way to use lidar_align for lidars extrinsic calibration #22

Open artemiialessandrini opened 4 years ago

artemiialessandrini commented 4 years ago

Hi, I'm interested if this package could be adapted to use as a 2D Lidars extrinsic calibration tool.

Initially lidar's data type is LaserScan, but it can be translated into 2D PointCloud2.

Also what are methods used for align implementation? Here's a visualized example, where we have a car tf model with base_link and two lidars. Be happy to get any comments, suggestions.

Best Regards!

Screenshot from 2019-12-10 19-33-48