Closed hitbg-yjm closed 3 years ago
@hitbg-yjm I have the same question, have you figure it out?
@hitbg-yjm I have the same question, have you figure it out?
I don't think it's right, because the parameters are used in the point cloud conversion. Maybe the camera coordinate system is different.
@hitbg-yjm I have the same question, have you figure it out?
I don't think it's right, because the parameters are used in the point cloud conversion. Maybe the camera coordinate system is different.
yes, I read the code, and it seems that this transformation is only used as an offset (transform point to the center of imu)
params_camera.yaml: lidar_to_cam_tx: 0.05 lidar_to_cam_ty: -0.07 lidar_to_cam_tz: -0.07 lidar_to_cam_rx: 0.0 lidar_to_cam_ry: 0.0 lidar_to_cam_rz: -0.04
The lidar's coordinate system(z) is up, and the camera's coordinate system(z) is forward. But in the yaml, rpy is 0 0 -0.04, It's almost the same coordinate system.