├── .github └── workflows │ ├── build_and_test_jazzy.yml │ └── docs.yml ├── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── doc ├── mkdocs.yml └── user_docs │ ├── SUMMARY.md │ ├── assets │ ├── images │ │ ├── calibration_configurator.png │ │ ├── camera_lidar_calibration.png │ │ ├── camera_lidar_calibration.xcf │ │ ├── camera_lidar_calibration_ui.png │ │ ├── camera_reference_calibration.png │ │ ├── camera_reference_calibration.xcf │ │ ├── extrinsic_calibration_target.png │ │ ├── lidar_lidar_calibration.png │ │ ├── lidar_lidar_calibration.xcf │ │ ├── lidar_reference_calibration.png │ │ └── lidar_reference_calibration.xcf │ └── workspace_tempaltes │ │ ├── extrinsic_camera_lidar_calib_ws_settings_template.ini │ │ ├── extrinsic_camera_reference_calib_ws_settings_template.ini │ │ ├── extrinsic_lidar_lidar_calib_ws_settings_template.ini │ │ ├── extrinsic_lidar_reference_calib_ws_settings_template.ini │ │ └── robot_ws_settings_template.ini │ ├── calibration_target.md │ ├── data_processing.md │ ├── index.md │ ├── installation.md │ ├── license.md │ ├── nodes_and_nodelets.md │ ├── troubleshooting.md │ ├── tutorial.md │ └── workspaces.md ├── multisensor_calibration ├── .clangd ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── cfg │ ├── TargetWithCirclesAndAruco.yaml │ ├── calibration_target_3holes_cad_cloud.ply │ └── calibration_target_3holes_cad_mesh.ply ├── include │ └── multisensor_calibration │ │ ├── calibration │ │ ├── CalibrationBase.h │ │ ├── Extrinsic2d3dCalibrationBase.h │ │ ├── Extrinsic3d3dCalibrationBase.h │ │ ├── ExtrinsicCalibrationBase.h │ │ ├── ExtrinsicCameraLidarCalibration.h │ │ ├── ExtrinsicCameraReferenceCalibration.h │ │ ├── ExtrinsicLidarLidarCalibration.h │ │ ├── ExtrinsicLidarReferenceCalibration.h │ │ └── ExtrinsicLidarVehicleCalibration.h │ │ ├── calibration_target │ │ ├── CalibrationTarget.hpp │ │ ├── CircularCutout.h │ │ └── Cutout.h │ │ ├── common │ │ ├── common.h │ │ ├── lib3D │ │ │ ├── core.hpp │ │ │ └── core │ │ │ │ ├── camera.hpp │ │ │ │ ├── colmapfilestorage.hpp │ │ │ │ ├── common.h │ │ │ │ ├── evaluation.hpp │ │ │ │ ├── exceptions.hpp │ │ │ │ ├── extrinsics.hpp │ │ │ │ ├── filestorage.hpp │ │ │ │ ├── frame.hpp │ │ │ │ ├── geometry.hpp │ │ │ │ ├── image.hpp │ │ │ │ ├── intrinsics.hpp │ │ │ │ ├── metashapefilestorage.hpp │ │ │ │ ├── version.hpp │ │ │ │ └── visualization.hpp │ │ └── utils.hpp │ │ ├── config │ │ ├── CameraLidarRegistrationParameters.hpp │ │ ├── CameraReferenceRegistrationParameters.hpp │ │ ├── DynamicParameter.hpp │ │ ├── LidarLidarRegistrationParameters.hpp │ │ ├── LidarReferenceRegistrationParameters.hpp │ │ ├── LidarTargetDetectionParameters.hpp │ │ └── LidarVehicleRegistrationParameters.hpp │ │ ├── deprecated │ │ └── EmptyCircle3DSacModel.hpp │ │ ├── guidance │ │ ├── GuidanceBase.h │ │ ├── GuidedCameraLidarTargetPlacementNode.h │ │ └── GuidedLidarLidarTargetPlacementNode.h │ │ ├── io │ │ └── Workspace.h │ │ ├── sensor_data_processing │ │ ├── CalibrationTargetSacModel.h │ │ ├── CameraDataProcessor.h │ │ ├── CameraTargetDetection.h │ │ ├── DataProcessor2d.h │ │ ├── DataProcessor3d.h │ │ ├── LidarDataProcessor.h │ │ ├── LidarTargetDetection.h │ │ ├── LocalPlaneSacModel.h │ │ ├── ReferenceDataProcessor3d.h │ │ └── SensorDataProcessorBase.h │ │ ├── ui │ │ ├── AboutDialog.h │ │ ├── CalibrationConfigDialog.h │ │ ├── CalibrationControlWindow.h │ │ ├── CalibrationGuiBase.h │ │ ├── CameraLidarCalibrationGui.h │ │ ├── CameraReferenceCalibrationGui.h │ │ ├── ExtrinsicCameraLidarConfigWidget.h │ │ ├── ExtrinsicCameraReferenceConfigWidget.h │ │ ├── ExtrinsicLidarLidarConfigWidget.h │ │ ├── ExtrinsicLidarReferenceConfigWidget.h │ │ ├── GuiBase.h │ │ ├── ImageViewDialog.h │ │ ├── InstallWorkspaceDialog.h │ │ ├── LidarLidarCalibrationGui.h │ │ ├── LidarReferenceCalibrationGui.h │ │ ├── MultiSensorCalibrationGui.h │ │ ├── ObservationsViewDialog.h │ │ └── Rviz3dViewDialog.h │ │ └── visualizers │ │ ├── PointCloud2ImageNode.h │ │ └── PointCloud2PointCloudDistance.h ├── launch │ └── example │ │ ├── example_ousterLeft_reference_calibration.launch.py │ │ ├── example_ousterRight_ousterLeft_calibration.launch.py │ │ └── example_stereoLeft_ousterLeft_calibration.launch.py ├── package.xml ├── resources │ ├── about.qrc │ ├── icons.qrc │ ├── icons │ │ ├── Icons8_License-Agreement.txt │ │ ├── icons8-add-file-26.png │ │ ├── icons8-add-list-30.png │ │ ├── icons8-board-32.png │ │ ├── icons8-opened-folder-26.png │ │ ├── icons8-pro-display-xdr-48-filled.png │ │ ├── icons8-pro-display-xdr-48.png │ │ ├── icons8-sensor-100.png │ │ └── icons8-sensor-100_filled.png │ ├── robot_workspaces.qrc │ ├── robot_workspaces │ │ └── example │ │ │ ├── ouster_left_reference_extrinsic_calibration │ │ │ └── settings.ini │ │ │ ├── ouster_right_ouster_left_extrinsic_calibration │ │ │ └── settings.ini │ │ │ ├── settings.ini │ │ │ └── stereo_camera_left_ouster_left_extrinsic_calibration │ │ │ └── settings.ini │ ├── settings_templates.qrc │ └── settings_templates │ │ ├── extrinsic_camera_lidar_calib_ws_settings_template.ini │ │ ├── extrinsic_camera_reference_calib_ws_settings_template.ini │ │ ├── extrinsic_lidar_lidar_calib_ws_settings_template.ini │ │ ├── extrinsic_lidar_reference_calib_ws_settings_template.ini │ │ ├── extrinsic_lidar_vehicle_calib_ws_settings_template.ini │ │ ├── intrinsic_camera_calib_ws_settings_template.ini │ │ └── robot_ws_settings_template.ini ├── rviz │ └── extrinsic_lidar_lidar_calibration_template.rviz └── src │ ├── calibration │ ├── CalibrationBase.cpp │ ├── Extrinsic2d3dCalibrationBase.cpp │ ├── Extrinsic3d3dCalibrationBase.cpp │ ├── ExtrinsicCalibrationBase.cpp │ ├── ExtrinsicCameraLidarCalibration.cpp │ ├── ExtrinsicCameraReferenceCalibration.cpp │ ├── ExtrinsicLidarLidarCalibration.cpp │ ├── ExtrinsicLidarReferenceCalibration.cpp │ └── ExtrinsicLidarVehicleCalibration.cpp │ ├── calibration_target │ ├── CircularCutout.cpp │ └── Cutout.cpp │ ├── guidance │ ├── GuidanceBase.cpp │ ├── GuidedCameraLidarTargetPlacementNode.cpp │ └── GuidedLidarLidarTargetPlacementNode.cpp │ ├── io │ └── Workspace.cpp │ ├── nodes │ ├── AggregatePointCloudNode.cpp │ ├── CalibrationNode.cpp │ ├── InitializeRobotWsNode.cpp │ └── PublishPointCloudNode.cpp │ ├── sensor_data_processing │ ├── CalibrationTargetSacModel.cpp │ ├── CameraDataProcessor.cpp │ ├── CameraTargetDetection.cpp │ ├── DataProcessor2d.cpp │ ├── DataProcessor3d.cpp │ ├── LidarDataProcessor.cpp │ ├── LidarTargetDetection.cpp │ ├── LocalPlaneSacModel.cpp │ ├── ReferenceDataProcessor3d.cpp │ └── SensorDataProcessorBase.cpp │ ├── ui │ ├── AboutDialog.cpp │ ├── AboutDialog.ui │ ├── CalibrationConfigDialog.cpp │ ├── CalibrationConfigDialog.ui │ ├── CalibrationControlWindow.cpp │ ├── CalibrationControlWindow.ui │ ├── CalibrationGuiBase.cpp │ ├── CameraLidarCalibrationGui.cpp │ ├── CameraReferenceCalibrationGui.cpp │ ├── ExtrinsicCameraLidarConfigWidget.cpp │ ├── ExtrinsicCameraLidarConfigWidget.ui │ ├── ExtrinsicCameraReferenceConfigWidget.cpp │ ├── ExtrinsicCameraReferenceConfigWidget.ui │ ├── ExtrinsicLidarLidarConfigWidget.cpp │ ├── ExtrinsicLidarLidarConfigWidget.ui │ ├── ExtrinsicLidarReferenceConfigWidget.cpp │ ├── ExtrinsicLidarReferenceConfigWidget.ui │ ├── GuiBase.cpp │ ├── ImageViewDialog.cpp │ ├── InstallWorkspaceDialog.cpp │ ├── InstallWorkspaceDialog.ui │ ├── LidarLidarCalibrationGui.cpp │ ├── LidarReferenceCalibrationGui.cpp │ ├── MultiSensorCalibrationGui.cpp │ ├── ObservationsViewDialog.cpp │ ├── ObservationsViewDialog.ui │ ├── Rviz3dViewDialog.cpp │ └── ViewDialog.ui │ └── visualizers │ ├── PointCloud2ImageNode.cpp │ └── PointCloud2PointCloudDistance.cpp ├── multisensor_calibration_interface ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── msg │ ├── CalibrationResult.msg │ ├── MarkerObservations.msg │ ├── StampedFloat32MultiArray.msg │ └── TargetPose.msg ├── package.xml └── srv │ ├── AddMarkerObservations.srv │ ├── AddRegionMarker.srv │ ├── CalibrationMetaData.srv │ ├── CameraIntrinsics.srv │ ├── 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