Hello ROS community!
I just released the V1.0 for the ros2_camera_lidar_fusion.
This package provides an efficient and straightforward way to calculate the intrinsic and extrinsic matrices between a camera and a LiDAR. It enables manual matching between camera pixels and LiDAR point values, allowing you to quickly obtain an extrinsic matrix with just 4 points.
The process is simple: first, save the data generated by the LiDAR and the camera. Then, perform the manual matching, and finally, obtain the extrinsic matrix. Additionally, the package includes a node that projects LiDAR points onto the image, which can open up exciting possibilities for future projects, such as 3D object segmentation using 2D images.
In a few days I will add the support for just use a configuration file to use your own topics.
Link: ros2_camera_lidar_fusion