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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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Crops and Overlays an upper corner - Fast-Livo with VLP16 and Zed2 #91

Closed sumedhfb closed 5 months ago

sumedhfb commented 7 months ago

Hi, I am using FAST-LIVO with a Velodyne VLP-16 and a ZED2 Camera. I followed 13 to set it up on config in avia_resize.yaml, and used the ZED values to set up camera parameters in camera_pinhole_resize.yaml. However, the overlayed point cloud is restricted to the left corner of the image instead of the front of the camera. The intrinsic and extrinsic measurements are accurate .

image The white pointcloud is a part of the original that it crops and overlays onto the image. I am lost on options to change - am I missing something?

xuankuzcr commented 5 months ago

Please check the coordinate system definition of the extrinsic parameters.