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RaDelft / RaDelft-Dataset

Code for the RaDelft Dataset
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ego-vehicle motion compensation #7

Open HYY-ying opened 1 month ago

HYY-ying commented 1 month ago

Hello! I want to obtain the velocity of ego-vehicle and compensate the doppler velocity of the radar point clouds. I find that there is velocity information in gps_vel.topic.json, but I can't figure out the coordinate transformation relationship. Transformation matrix in the tf.topic.json doesn't seem to help.

HYY-ying commented 1 month ago

Is there an accurate calibration file between different sensors?

HYY-ying commented 1 month ago

The data collected by radar is in the radar coordinate system，and the twist information in the folder gps_odom.topic.json is in the 'an_device' coordinate system，and the pose information in the folder gps_odom.topic.json is in the 'utm' coordinate system. I want to know what is the coordinate system transformation relationship

BotaoSun commented 3 weeks ago

Is there an accurate calibration file between different sensors?

Hi, the calibration between LiDAR and the camera can be referred to: https://github.com/RaDelft/RaDelft-Dataset/blob/86f5346cbba49e8fc6a879a33158647bf1957f4c/machine_learning_python/visualizers/camera_projection_visualizer.py#L252

The transformation between LiDAR and the radar can be referred to: https://github.com/RaDelft/RaDelft-Dataset/blob/86f5346cbba49e8fc6a879a33158647bf1957f4c/machine_learning_python/data_preparation/data_preparation.py#L463

HYY-ying commented 3 weeks ago

Thanks! What about the transformation relationship between radar point cloud and ego-vehicle odometry data in the file gps_odom.topic.json?

IgnacioRoldan commented 3 weeks ago

The transformations between lidar, camera and odometry can be found in the tf.topic.json file. The radar was not recorded with ros, so it is not there. However, to transform from lidar coordinates to radar coordinates you can call the transform_point_cloud function from the data_preparation.py file.

HYY-ying commented 3 weeks ago

But I didn't see the transformations between lidar, camera and odometry in the tf.topic.json file. There are just transformations between base_link coordinate and odom and map coordinate.

IgnacioRoldan commented 3 weeks ago

I just checked with some people who used it, and the data in the odom file and the lidar are in the same coordinate system.

HYY-ying commented 3 weeks ago

So the velocity information in the gps_odom.topic.json and the lidar data don't need to be coordinate transformed. They're in the same coordinate system, right?

IgnacioRoldan commented 2 weeks ago

Correct