Allow for arbitrary orientation between the camera and LiDAR by including a compensating rotation

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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Closed karnikram closed 6 years ago

karnikram commented 6 years ago

The previous version always assumed that the lidar and the camera are both pointing forward.

This might not always be the case, so I've added the initial rotation as a configurable value. The final estimate accounts for this initial rotation.