LiDAR-camera calibration dataset

This dataset provides several LiDAR-camera data sequences recorded in the rosbag2 format to test LiDAR-camera extrinsic calibration algorithms. The ros2 bag files were recorded with two LiDAR-camera configurations (LiDAR: Livox Avia / Ouster OS1-32, camera: STC-MCS500POE).

livox.tar.gz contains five rosbags with the following topics:

• Topic: /livox/points | Type: sensor_msgs/msg/PointCloud2 |
• Topic: /livox/imu | Type: sensor_msgs/msg/Imu |
• Topic: /livox/lidar | Type: livox_interfaces/msg/CustomMsg |
• Topic: /image | Type: sensor_msgs/msg/Image |
• Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo |

ouster.tar.gz contains two rosbags with the following topics:

• Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo |
• Topic: /image | Type: sensor_msgs/msg/Image |
• Topic: /points | Type: sensor_msgs/msg/PointCloud2 |