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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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Coordinate system of rotation and translation? #7

Closed zachkendrick closed 7 years ago

zachkendrick commented 7 years ago

Can you give me coordinate system of the translation/lidar? Thanks for all the help by the way! I have gotten the package to run to completion. Unfortunately, I don't think the results of the translation are accurate. Any suggestions?

karnikram commented 7 years ago

Hey, I've been using the package too and I've been getting quite accurate results. Double check the intrinsic calibration of your camera and your marker measurements in the marker_coordinates.txt file.

If you're using the velodyne driver, the orientation follows the standard ROS body frame convention ie the X axis of the device would point forward, Y towards the left and Z upwards.

The orientation of the camera would be -> Z forward, X right and Y down.

The resulting transformation that the package provides would be that of the lidar with respect to the camera ie motion measured from the camera to the lidar.

ankitdhall commented 7 years ago

@zachkendrick I hope the comment by @karnikram helps. The rotation and translation is such that it transforms all the points in the LiDAR frame to the camera frame; so the camera is the reference/origin.