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[feat] Improve calibration from poses

Mohamed Mssaouri requested to merge feat/ImproveCalibrationFromPoses into master


Improve the filter which computes the calibration between a LiDAR sensor and a camera using their trajectories. These trajectories can be obtained by a SLAM process for example



  • Add automatic time shift computing between two trajectories to the calibration filter.
  • Support the case when trajectory is planar.
  • Support the case when trajectories are not in the same scale.
  • Add output of the transform.


  • Fix output of trajectory after applying computed transform.


  • Improve descriptions of filter inputs.
Edited by Julia Sanchez

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