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acfr / cam_lidar_calibration

(ITSC 2021) Optimising the selection of samples for robust lidar camera calibration. This package estimates the calibration parameters from camera to lidar frame.
Apache License 2.0
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Camera normal in z direction #8

Closed Yibin122 closed 2 years ago

Yibin122 commented 2 years ago

As commented in this line, why is the normal -1 instead of 1 in z?

In my case, using 1 gives the correct results. And thanks for your user-friendly work!

darrenjkt commented 2 years ago

Oh that's interesting. I didn't have time to finish looking into that actually.

What's the result when you use z=-1 compared to z=1?

Yibin122 commented 2 years ago

using -1: (1.063, 0.301, 1.886,-0.336,-0.791,-2.610)
using 1: (-1.618,-0.025,-1.633,-1.460, 0.118, 0.741)

Is there any specific reason why you changed it to -1?

darrenjkt commented 2 years ago

It wasn't my choice to change it to -1. We had someone previously refactor the code and this was one of the changes made. My guess is that it might be a specific configuration to cater for how certain cameras/lidars pick up the chessboard (maybe the rotation convention/ left-hand coordinate system or something). Though I apologize I don't have more time to look into this.

For others who are facing similar issues, it's good that this may be a potential fix.