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‎CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package multisensor_calibration
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Forthcoming
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------------------
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Features:
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* Added Documentation.
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* Added Node multisensor_calibration with Calibration Configurator
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* Added Node extrinsic_camera_lidar_calibration
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* Added Node extrinsic_lidar_lidar_calibration
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* Added Node extrinsic_lidar_vehicle_calibration
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Contributors: Boitumelo Ruf, Christian Frese, Raphael Hagmanns, Tom Schmidt, Mohamed Youssef Hanini

‎CONTRIBUTING.md

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# CONTRIBUTING
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We are using the [Feature Branch Workflow](https://guides.github.com/introduction/flow/), and prefer contributions as merge requests.
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**There's only one rule: anything in the master branch is always deployable.**
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Create a feature branch:
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`git checkout -B feat/<feature_name>`
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## Recommended workflow
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1. **Fork** the repository if your are not a collaborator and have direct access to the repository
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2. Checkout new **branch** (branching of `devel`)
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3. Make **changes**
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4. Run **tests**
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5. **Commit** those changes
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6. **Push**
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7. Create a **pull request** (targeting `devel`)
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<hr>
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## Branching Recommendations
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- Try to keep two main branches ```main``` and ```devel```.
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- The ```devel```-branch should be the default branch in which all developments are done and from which new branches are created.
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- Each new release with a version tag should be merged into ```main```. *Intermediate merges can be made if there is a feature which is to be made available in the default branch prior to an official release.*
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<hr>
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## Commit Conventions
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We aim at concise and yet descriptive commit messages. In this, we suggest the following:
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Each top line of a commit should be made up of a type and a subject
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`<type>: <subject>`
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Allowed types:
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* **feat**: A new feature
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* **enhance**: An enhancement to the current feature set
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* **fix**: A bug fix
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* **docs**: Documentation only changes
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* **style**: Changes that do not affect the meaning of the code (white-space, formatting, missing semi-colons, newline, line endings, etc)
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* **refactor**: A code change that neither fixes a bug or adds a feature
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* **perf**: A code change that improves performance
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* **test**: Adding missing tests
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* **chore**: Changes to the build process or auxiliary tools and libraries such as documentation generation
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* **release**: Committing changes, e.g. to CHANGELOG.rst, for a new release
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You can add additional details after a new line to describe the change in detail or automatically close a issue on Github.
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Example:
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```
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docs: create initial CONTRIBUTING
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This closes #73
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```
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<hr>
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# Versioning Conventions
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This repo adheres to semantic versioning: <http://semver.org/>.
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Given a version number MAJOR.MINOR.PATCH, increment the:
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- MAJOR version when you make incompatible API changes,
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- MINOR version when you add functionality in a backwards-compatible manner, and
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- PATCH version when you make backwards-compatible bug fixes.
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Additional labels for pre-release and build metadata are available as extensions to the MAJOR.MINOR.PATCH format
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<hr>

‎LICENSE

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BSD 3-Clause License
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Copyright (c) 2025, Fraunhofer IOSB
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md

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# multisensor_calibration
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An actively maintained universal calibration toolbox for assisted, target-based multi-sensor calibration with ROS 1 and ROS 2 support.
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It provides a variety of methods and applications to calibrate complex multi-sensor systems, e.g.
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- <b>Extrinsic Camera-LiDAR Calibration</b>,
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- <b>Extrinsic Camera-Reference Calibration</b>,
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- <b>Extrinsic LiDAR-LiDAR Calibration</b>,
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- <b>Extrinsic LiDAR-Reference Calibration</b>, and
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- <b>Extrinsic LiDAR-Vehicle Calibration</b> (prototype).
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**Acknowledgement**: This software was developed as part of the projects [AKIT-PRO](https://a-kit.de) (grant no. 13N15673) and [ROBDEKON – Robotic Systems for Decontamination in Hazardous Environments](https://robdekon.de/) (grant nos. 13N14674 and 13N16538), funded by the Federal Ministry of Education and Research (BMBF) under the German Federal Government’s Research for Civil Security program.
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------------------------
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### Continuous Integration:
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| Service | devel | main |
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| ---------- | ------- | ------ |
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| GitHub | | |
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------------------------
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### Contents:
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- [Getting Started](#getting-started)
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- [Requirements](#requirements)
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- [Build](#build)
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- [Changlog](CHANGELOG.md)
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- [Contributing](CONTRIBUTING.md)
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- [License](LICENSE)
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------------------------
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## Getting Started
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### Requirements
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Basic catkin requirements can be installed by calling following command from the top of the catkin workspace:
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rosdep install -y -r --from-paths src --ignore-src
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Further requirements:
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- [**PCL**](https://pointclouds.org/)
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- [**OpenCV**](https://opencv.org/)
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- [**Qt**](https://www.qt.io/)
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- [**small_gicp**](https://github.com/koide3/small_gicp): This is included as git-submodule and will be cloned and built on the first build. It is licensed under the MIT-License.
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- [**OpenMP**](https://www.openmp.org/) (optional): This is used to parallelize and speed up the processing of each point in the point cloud. If not found by CMake the processing will be done sequentially.
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- [**Doxygen**](https://www.doxygen.nl/) (optional): If available, this Doxygen documentation will be build automatically.
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### Build
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1. Clone repository:
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```bash
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git clone [email protected]:FraunhoferIOSB/multisensor_calibration.git
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```
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2. (OPTIONAL) Clone and build 'small_gicp'.<br>If this step is omitted, it will be executed as part of the first build.
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```bash
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cd multisensor_calibration && ./scripts/clone_small_gicp.sh && ./build_and_install_small_gicp.sh
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```
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3. Initialize `rosdep` and install dependencies:
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```bash
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src -y --ignore-src
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```
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4. Run `catkin` to build from source:<br>
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To build in 'Debug' mode add `-DCMAKE_BUILD_TYPE=Debug` to catkin command.
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If 'CMAKE_BUILD_TYPE' omitted, multisensor_calibration will be build in 'Release' mode.
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```bash
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catkin build -j8 -DCMAKE_BUILD_TYPE=Release multisensor_calibration
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```
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### Run
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```bash
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rosrun multisensor_calibration multisensor_calibration
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```
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See user documentation on how to use.
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