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AIR-THU / DAIR-V2X

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How the image is resized to 1920 by 1080? LiDAR on image alignment #25

Closed thaotrongtran closed 1 year ago

thaotrongtran commented 1 year ago

Thank you for responding to issues recently. I wonder how the image is resized to have the size 1920 by 1080 when the camera sensor is 4096x2160. Also, does this process affect the alignment of LiDAR on an image? For example, for a stationary object below, why the signs are not aligned correctly using the provided intrinsic matrix? This object is stationary, so there shouldn't be due to a time difference between LiDAR capture time and image capture time. image

haibao-yu commented 1 year ago

Thanks for your feedback. Because of the inappropriate calibration solution, there was a certain calibration projection error when associating these sensor data. We re-modified these calibration files based on the stationary objects in ground plane and ensured that most of the stationary targets can be matched. However, the ground is not perfectly flat and we cannot completely cover these problems.