search

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
1.52k stars 461 forks source link

Question Regarding intrinsics #88

Open smaghsoudi opened 5 years ago

smaghsoudi commented 5 years ago

I have a Velodyne and Realsense RGB-D camera and was wondering about which set of intrinsic parameters I should use. Do I need to perform this calibration for the RGB lens and each of the two Depth cameras?

smaghsoudi commented 5 years ago

My guess is that since the point cloud information has its origin on the left imager of the realsense, I only need to use the intrinsic information of the left imager to get the extrinsic parameters between the lidar and the left imager. Does this make sense?

ankitdhall commented 5 years ago

Ideally to get the transform between a camera and a LiDAR you only require the intrinsics of the said camera.