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TixiaoShan / LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
https://youtu.be/8CTl07D6Ibc
BSD 3-Clause "New" or "Revised" License
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How did you get the params lidar_to_cam? #3

Closed hitbg-yjm closed 3 years ago

hitbg-yjm commented 3 years ago

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.

Woodpecker0 commented 3 years ago

@hitbg-yjm I have the same question, have you figure it out?

hitbg-yjm commented 3 years ago

@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.

Woodpecker0 commented 3 years ago

@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)