direct_visual_lidar_calibration

This package provides a toolbox for LiDAR-camera calibration that is:

Generalizable: It can handle various LiDAR and camera projection models including spinning and non-repetitive scan LiDARs, and pinhole, fisheye, and omnidirectional projection cameras.
Target-less: It does not require a calibration target but uses the environment structure and texture for calibration.
Single-shot: At a minimum, only one pairing of a LiDAR point cloud and a camera image is required for calibration. Optionally, multiple LiDAR-camera data pairs can be used for improving the accuracy.
Automatic: The calibration process is automatic and does not require an initial guess.
Accurate and robust: It employs a pixel-level direct LiDAR-camera registration algorithm that is more robust and accurate compared to edge-based indirect LiDAR-camera registration.