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fix missing dependency
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‎README.md

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# direct_visual_lidar_calibration
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Detailed documentation will be available by the end of March 2023.
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This package provides a toolbox for LiDAR-camera calibration that is:
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- **Generaliable**: It can handle various LiDAR and camera projection models including spinning and non-repetitive scan LiDARs, and pinhole, fisheye, and omnidirectional projection cameras.
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- **Automatic**: The calibration process is automatic and does not require an initial guess.
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- **Accurate and robust**: It employs a pixel-level direct LiDAR-camera registration algorithm that is more robust and accurate compared to edge-based indirect LiDAR-camera registration.
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**[Documentation: https://koide3.github.io/direct_visual_lidar_calibration/](https://koide3.github.io/direct_visual_lidar_calibration/)**
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**Documentation: [https://koide3.github.io/direct_visual_lidar_calibration/](https://koide3.github.io/direct_visual_lidar_calibration/)**
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**Docker hub: [koide3/direct_visual_lidar_calibration](https://hub.docker.com/repository/docker/koide3/direct_visual_lidar_calibration)**
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[![Build](https://github.com/koide3/direct_visual_lidar_calibration/actions/workflows/balm.yaml/badge.svg?branch=main)](https://github.com/koide3/direct_visual_lidar_calibration/actions/workflows/balm.yaml) ![Docker Image Size (latest by date)](https://img.shields.io/docker/image-size/koide3/direct_visual_lidar_calibration)
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<img src="https://user-images.githubusercontent.com/31344317/213393920-501f754f-c19f-4bab-af82-76a70d2ec6c6.png" width="50%">
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# Dependencies
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![Screenshot_20230119_173721](https://user-images.githubusercontent.com/31344317/213393920-501f754f-c19f-4bab-af82-76a70d2ec6c6.png)
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- [PCL](https://pointclouds.org/)
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- [OpenCV](https://opencv.org/)
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- [GTSAM](https://gtsam.org/)
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- [Ceres](http://ceres-solver.org/)
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- [Iridescence](https://github.com/koide3/iridescence)
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- [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork) [optional]
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# License
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‎docker/humble/Dockerfile

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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /root
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RUN git clone https://github.com/ceres-solver/ceres-solver
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WORKDIR /root/ceres-solver/build
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RUN cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF
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RUN make -j$(nproc) && make install
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RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
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&& echo "set -e" >> /ros_entrypoint.sh \
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&& echo "source /opt/ros/humble/setup.bash" >> /ros_entrypoint.sh \
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&& echo "source /root/ros2_ws/install/setup.bash" >> /ros_entrypoint.sh \
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&& echo 'exec "$@"' >> /ros_entrypoint.sh \
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&& chmod a+x /ros_entrypoint.sh
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RUN git clone https://github.com/ceres-solver/ceres-solver \
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&& mkdir ceres-solver/build \
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&& cd ceres-solver/build \
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&& cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
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&& make -j$(nproc) \
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&& make install \
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&& rm -rf /root/ceres-solver
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COPY . /root/ros2_ws/src/direct_visual_lidar_calibration
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WORKDIR /root/ros2_ws
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RUN apt-get update \
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&& /bin/bash -c '. /opt/ros/humble/setup.bash; rosdep install -y --from-paths src'
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&& /bin/bash -c ". /opt/ros/humble/setup.bash; rosdep install -y --from-paths src" \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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RUN /bin/bash -c ". /opt/ros/humble/setup.bash; colcon build"
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RUN /bin/bash -c '. /opt/ros/humble/setup.bash; colcon build'
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RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
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&& echo "set -e" >> /ros_entrypoint.sh \
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&& echo "source /opt/ros/humble/setup.bash" >> /ros_entrypoint.sh \
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&& echo "source /root/ros2_ws/install/setup.bash" >> /ros_entrypoint.sh \
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&& echo 'exec "$@"' >> /ros_entrypoint.sh \
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&& chmod a+x /ros_entrypoint.sh
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WORKDIR /root/ros2_ws/src/direct_visual_lidar_calibration
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‎docker/noetic/Dockerfile

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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /root
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RUN git clone https://github.com/ceres-solver/ceres-solver
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WORKDIR /root/ceres-solver/build
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RUN cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF
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RUN make -j$(nproc) && make install
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RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
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&& echo "set -e" >> /ros_entrypoint.sh \
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&& echo "source /opt/ros/noetic/setup.bash" >> /ros_entrypoint.sh \
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&& echo "source /root/catkin_ws/devel/setup.bash" >> /ros_entrypoint.sh \
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&& echo 'exec "$@"' >> /ros_entrypoint.sh \
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&& chmod a+x /ros_entrypoint.sh
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RUN git clone https://github.com/ceres-solver/ceres-solver \
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&& mkdir ceres-solver/build \
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&& cd ceres-solver/build \
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&& cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
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&& make -j$(nproc) \
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&& make install \
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&& rm -rf /root/ceres-solver
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COPY . /root/catkin_ws/src/direct_visual_lidar_calibration
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WORKDIR /root/catkin_ws
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RUN apt-get update \
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&& /bin/bash -c '. /opt/ros/noetic/setup.bash; rosdep install -y --from-paths src'
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&& /bin/bash -c ". /opt/ros/noetic/setup.bash; rosdep install -y --from-paths src" \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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RUN /bin/bash -c ". /opt/ros/noetic/setup.bash; catkin_make"
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RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; catkin_make'
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RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
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&& echo "set -e" >> /ros_entrypoint.sh \
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&& echo "source /opt/ros/noetic/setup.bash" >> /ros_entrypoint.sh \
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&& echo "source /root/catkin_ws/devel/setup.bash" >> /ros_entrypoint.sh \
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&& echo 'exec "$@"' >> /ros_entrypoint.sh \
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&& chmod a+x /ros_entrypoint.sh
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WORKDIR /root/catkin_ws/src/direct_visual_lidar_calibration
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‎docs/calibration.md

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![Screenshot_20230119_173747](https://user-images.githubusercontent.com/31344317/213393928-c640e0d8-076a-4272-90b3-c67dfab02358.png){: style="height:75%;width:75%"}
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**Example data: ~~ouster_pinhole.tar.gz~~ (will be available soon)**
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## 1. Preprocessing
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```bash

‎docs/index.md

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![Screenshot_20230119_173721](https://user-images.githubusercontent.com/31344317/213393920-501f754f-c19f-4bab-af82-76a70d2ec6c6.png){: style="height:75%;width:75%"}
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# Dependencies
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- [PCL](https://pointclouds.org/)
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- [OpenCV](https://opencv.org/)
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- [GTSAM](https://gtsam.org/)
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- [Ceres](http://ceres-solver.org/)
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- [Iridescence](https://github.com/koide3/iridescence)
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- [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork) [optional]
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# License
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This package is released under the MIT license.

‎package.xml

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<depend condition="$ROS_VERSION == 2">rclcpp</depend>
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<depend condition="$ROS_VERSION == 2">rosbag2_cpp</depend>
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<depend>sensor_msgs</depend>
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<depend>fmt</depend>
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<depend>cv_bridge</depend>
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<depend>pcl_ros</depend>
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<depend>sensor_msgs</depend>
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<export>
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<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>

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