Closed snakehaihai closed 1 year ago
ok 1st problem solved. this is the actual lidar orientation camera 0 z front, y right, x down. Therefore LIDAR -y front, x left and z up The rough direction in the yaml file is correct. But orientation seems not calibrated but rather handpicked number.
both of the figure provided by hilti team are wrong and misleading. The newer one doesn`t even follow the right-hand rule
Dear @snakehaihai please accept my apologies for responding so late. Indeed both diagrams above are wrong. A mistake was made when changing the picture from the standard vehicle convention (x-forward, y-left, z-up) to the actual convention used by HESAI, which has x-left, y-back, z-up:
The diagram has now been updated.
Hope the issue can be closed now?
Hi According to your file
The imu and LIDAR are 180 degree apart around X axis
However, based on your calibration file you provided,
Its 90 degree off?
Can you guys help to explain this?
And also how did you guys use the kalibra, I tried to use parser from https://github.com/sevensense-robotics/alphasense_stereo_demo to generate parameter and test out the fisheye undistort
and it says
Are you giving correct kalibra file format?