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Hilti-Research / hilti-slam-challenge-2022

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calibration issue #13

Closed snakehaihai closed 1 year ago

snakehaihai commented 2 years ago

Hi According to your file image The imu and LIDAR are 180 degree apart around X axis

However, based on your calibration file you provided,

image

Its 90 degree off?

image

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

Initializing node failed due to Camera right must be right in the coordinate frame of left camera.. The file "/home/av/alphasense_ws/src/alphasense_stereo_demo/alphasense_stereo/config/calib_3_cam0-1-camchain-imucam.yaml" is not a valid calibration fil

Are you giving correct kalibra file format?

snakehaihai commented 2 years 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.

image

both of the figure provided by hilti team are wrong and misleading. The newer one doesn`t even follow the right-hand rule

image

image

mcamurri commented 1 year ago

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: image

The diagram has now been updated.

Hope the issue can be closed now?