I have a robot which has 2 multi-spectral cameras and 1 laser scanner attached. In the end I would like to have the images from the cameras aligned with the scanner so that I can have spectral information added to the scanner's point cloud. However I am having some troubles with the final alignment and am struggling to find a way to identify the location of the error. I was thus wondering if any of you know of any datasets or online exercises that deal with this problem where the correct outputs are given? ION this way I could test my approach on the dataset and see where my errors stem from.
Within ros there is a lidar_camera_calibration package that should take care of this for you! Their github page has a detailed readme. If you aren't using ros, you can probably take a look at the core functions and compare it with your work.
Autoware foundation has also released their own autoware_camera_lidar_calibrator package which is more recent.