Closed kohlisch-git closed 10 months ago
@kohlisch-git I think you forgot to attach some details to your question. Can you please check the part where you say
I wrote my static_transform_publisher as:
Yes, that part is missing....
<node pkg="tf" type="static_transform_publisher" name="link_name" args="x y z yaw pitch roll lidar_rame camera_frame period"/>
with the values for x, y, z, roll, pitch, yaw from the calibration.
Hi @kohlisch-git
The transformation publisher seems to be correct. Here is an example of a publisher we use:
<node pkg="tf2_ros" type="static_transform_publisher" required="true"
name="transformation_ouster_to_camera_0"
args="x y z yaw pitch roll os_sensor camera_0"/>
I'm unsure how you project the point cloud into the image frame. Is it a code you wrote?
Hi, first of all thanks for your awesome repository, the calibration process is very intuitive and provides good feedback and good results. I have tested your method among others and it produced the best results.
I have then used the results of the calibration in a static_transform_publisher to complete the tf_tree and look up the transformation in my project. I then noticed the results were pretty bad and went back to investigate. If I take the obtained transformation from the calibration back to matlab and apply it to project the pointclouds captured with the calibrated sensors onto the image, everything is fine.
If I then take a static_transform_publisher with the same parameters, rectify the image and overly the lidar points in rviz, everything is again quite off (not off like source and target frame confused, but a few degrees in rotation and/or a few 100 mm in translation). The source and target frames are correct, which i verified by switching them up which was worse. I have also inverted the transformation and switched the source and target frame, which got me the same result.
I wrote my static_transform_publisher as:
What am i doing wrong? Thanks again for your awesome work and your help!