Multi-Sensor Calibration

[sevocrear]

Hi!
We're using some packages from your project. And we have a question about multi-sensor calibration.
I have a task to mutually calibrate the sensors on the vehicle (KAMAZ) (there is a lidar, several mono cameras (in front, on the sides, behind), as well as a radar in front.
I would like to find out their mutual tf (transformations) in order to create an urdf, publish their static coordinates in ROS 2.
We haven't found any implementations neither in autoware Universe or Autoware.Auto.

Could you give me some advice? Maybe some kind of tool, method. And then I was looking, I haven't found anything suitable yet.
May be, you use some method, tool for automotive.
I would be really grateful for any help

[aohsato]

@sevocrear Hi, thank you for your question!
As you say, there is no calibration package in autoware.auto/universe right now, but you needs to prepare calibration parameters for your product.

To resolve this problem, we'll soon release an alpha version of the calibration package from TIER IV tool team in a few days. The following features will be supported as the first step, which will help your project.

• Manual extrinsic calibration
• Map-based lidar-lidar extrinsic calibration
• Target-based lidar-camera extrinsic calibration
• Target-based camera intrinsic calibration

[aohsato]

Related issues
autowarefoundation/autoware.universe#592
autowarefoundation/autoware.universe#679

[yabuta]

@sevocrear I am preparing to release, but it's going to take some more time as I am deleting private information from the repository.
I'm hoping to release it by the end of this month.

[sevocrear]

@yabuta Okay, thank you. I appreciate it

[sevocrear]

@yabuta Good afternoon! Could you please us tell when we may have an opportunity to use your tools for calibration?

[yabuta]

@sevocrear
My sincere apologies. I somehow managed to miss this notification
Also, I was going to release the calibration tools, but it took longer than I thought.
The calibration tool used in Tier4 is now available here
https://github.com/tier4/CalibrationTools

[ghost]

@yabuta @aohsato Will these calibration tools stay in a T4 repository? Or is there any plan to include this within the AWF organization as an officially supported set of calibration tools?

[aohsato]

@LalithVipulananthan Good point. We plan to manage this repository on tier4 org and wait for reactions from users as the first step, so we have no plan to transit to AWF org now.