SensorCal - interactive_camera_lidar_calibration

Python package scaffold for sensorcal.

Install (editable)

python -m pip install -e .

Install (pip)

python -m pip install sensorcal

Quickstart

sensorcal recalibrate --use-sample

If you run sensorcal recalibrate with no arguments, it defaults to the sample data. When installed via pip, sample data is bundled inside the package.

Usage

Single image + pcd:

sensorcal recalibrate \
  --config path/to/calibrate.yaml \
  --image path/to/img_001.png \
  --pcd path/to/pc_001.pcd

Single image + pcd with parameters (no config):

sensorcal recalibrate \
  --image path/to/img_001.png \
  --pcd path/to/pc_001.pcd \
  --intrinsic-k 600 0 640 0 600 360 0 0 1 \
  --lidar-camera 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1

Folder mode:

sensorcal recalibrate \
  --config path/to/calibrate.yaml \
  --image-folder path/to/images \
  --pcd-folder path/to/pcds

Sample data (3 images + 3 PCDs bundled in samples/): use the quickstart above.

Input Structure

You can provide inputs in two ways:

1. Direct CLI arguments

• Single pair:
  • --image path/to/img.png
  • --pcd path/to/cloud.pcd
• Folder mode (paired by sorted filename order):
  • --image-folder path/to/images
  • --pcd-folder path/to/pcds

2. YAML config file (--config path/to/calibrate.yaml)

Expected YAML structure

transform:
  # 3x3 camera intrinsics in row-major order
  intrinsic_k: [fx, 0, cx, 0, fy, cy, 0, 0, 1]

  # 4x4 LiDAR-to-camera transform in row-major order
  lidar_camera: [r00, r01, r02, tx,
                 r10, r11, r12, ty,
                 r20, r21, r22, tz,
                 0,   0,   0,   1]

path:
  # Optional defaults for folder mode
  img_folder: /abs/or/relative/path/to/images
  pcd_folder: /abs/or/relative/path/to/pcds

Notes

• If you pass --intrinsic-k or --lidar-camera on the CLI, those override the config file.
• If you pass both --image/--pcd and folder paths, the single pair wins.
• For folder mode, files are paired by sorted filename order, so keep names aligned.

Python (pip installed)

from sensorcal.app import SensorCalApp

app = SensorCalApp(
    config_path="path/to/calibrate.yaml",
    intrinsic_k=None,
    lidar_camera=None,
    image_path="path/to/img_001.png",
    pcd_path="path/to/pc_001.pcd",
    image_folder=None,
    pcd_folder=None,
    save_file="calibration_results.yaml",
)
app.process()

Controls

• Single-window Tkinter app with live sliders, buttons, and dark mode toggle
• Sliders: tx/ty/tz (meters), roll/pitch/yaw (degrees), alpha, point size
• Density toggle: overlays a heatmap of point concentration (helps reveal clusters)
• Keyboard: A/D (X-/X+), W/S (Y-/Y+), Q/E (Z-/Z+)
• Rotate: J/L (roll-/+), I/K (pitch-/+), U/O (yaw-/+)
• Buttons: Prev, Next, Original, Save
• Save writes YAML plus a sibling .txt containing K and the transform.

Python API

Use the sensorcal.app.SensorCalApp class shown above.