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ethz-asl / lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
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Should transformStamped message start from 0,0,0 point? #27

Open YilmazKadir opened 4 years ago

YilmazKadir commented 4 years ago

Hello, I want to calibrate my velodyne lidar with an accurate GPS+IMU system. GPS+IMU system outputs its results in UTM coordinate frame. So, it does not start from point (0,0,0). Does transform stamped message have to start from point 0 or do you handle it inside the code? Thanks in advance