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heethesh / lidar_camera_calibration

Light-weight camera LiDAR calibration package for ROS using OpenCV and PCL (PnP + LM optimization)
BSD 3-Clause "New" or "Revised" License
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Issue of how to transform the frame_id of image to frame_id of ouster lidar #48

Open yulan0215 opened 2 years ago

yulan0215 commented 2 years ago

Hi:

I am sorry I have a question that when I finish calibration and get the extrinsic parameter. Because I want to show the TF of camera frame and lidar frame. I used the tf ros:

node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args=" 0.08427359 -0.13105274 -0.10418258 -1.5702098535942404 0.20294634372269404 3.1335577 os1_lidar camera_frame 100"

This is the calibration result: Euler angles (RPY): (-1.5702098535942404, 0.20294634372269404, 3.133557704397065) Rotation Matrix: [[ -9.79445359e-01 2.01544824e-01 -8.15306477e-03] [ 7.86996306e-03 -2.20592937e-03 -9.99966598e-01] [ -2.01556077e-01 -9.79476808e-01 5.74436965e-04]] Translation Offsets: [[ 0.08427359 -0.13105274 -0.10418258]]

But from TF in RVIZ, it seems to be that the frame of ouster lidar and camera were wrong, do you have any idea about that? Thx!