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ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"
http://arxiv.org/abs/1705.09785
GNU General Public License v3.0
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projection from Lidar to camera #120

Open Git89 opened 4 years ago

Git89 commented 4 years ago

Hi! Thanks for the greatest work. I got a problem while using the calibration result to do projection from Lidar to camera.

Hardware: Logitech web camera (Mono), VLP-32C Velodyne Hardware setup: camera is placed on top of Lidar. Camera and Lidar both face front. No Gap between camera and Lidar. Parameters files: For aurco_mapping ccc For Lidar_camera_calibration config c dimen

Results: rrrr5

Question1 the ypr I got is (2.18,-1.42, -0.60) degree is (142,-81,-34). Is this result correct based on my hardware setup? If not, are there any suggestions you can give me? Anyway, I can not project any points from Lidar to camera frame now. Question2: why does final rotation not come with a final translation? which results should I use when I do projection? ypr or final rotation or average rotation and translation? Any additional information can be provided if needed. Many thanks in advance.

AnthonyLadewig commented 3 years ago

Hi Git89,

How are you projecting the lidar to camera?