TIER IV CalibrationTools

Software
Perception
Tool

A set of calibration tools for estimating the extrinsic and intrinsic parameters of cameras, lidars and radars used in autonomous driving and robotics.

Made by tier4.

Source on GitHub: github.com/tier4/CalibrationTools (opens in a new tab). Facts read at commit d434e57 (opens in a new tab).

Licenses

Code: GPL-3.0-only (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit d434e57 (opens in a new tab), on 22 Oct 2026.
Commercial use: Yes

Copyleft: Modified source must be published.

What it does

Provides extrinsic calibrators for camera-lidar, lidar-lidar, base-lidar and radar-lidar setups, using markers, ground planes or natural features.
Provides an intrinsic calibrator for camera models using calibration boards.
Includes a sensor calibration manager with a UI that selects a project and calibrator, checks required transforms, and saves results.
Calibrators are plugged in as ROS 2 nodes exposing a common extrinsic calibration service.
Projects and calibrators are organized as Python modules and launch files so new setups can be added without changing the calibrator code.
Can be installed alongside Autoware, built standalone with colcon, or run in a Docker image.

Written by Robotheca from the project's README (opens in a new tab) at commit d434e57.

Getting started

Difficulty: Advanced
Hardware it needs, as the project states it: Ubuntu 22.04 or 24.04 with ROS 2 Humble or Jazzy.
How to start: The project's README (opens in a new tab)

Maintenance

Status: Maintained: a commit in the last 12 months
Newest commit: 20 Feb 2026 on tier4/universe
Latest release: release for galactic (31 Aug 2022)

Checked on GitHub on 22 Oct 2026.

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.