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jedeschaud / kitti_carla_simulator

KITTI-CARLA: Python scripts to generate the KITTI-CARLA dataset
MIT License
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Whats the benefit of LIDAR yaw angle at 180 ? #10

Open RaviBeagle opened 2 years ago

RaviBeagle commented 2 years ago

Can anyone say what the benefit of having the LIDAR point backwards ? lidar_transform = carla.Transform(carla.Location(x=0, y=0, z=1.80), carla.Rotation(pitch=0, yaw=180, roll=0))

Also the lidar to camera translation makes difference of lidar to camera 

T_lidar_camera = R_camera_vehicle.T.dot(translation_carla(np.array([[lidar_transform.location.x],[lidar_transform.location.y],[lidar_transform.location.z]])-np.array([[camera_transform.location.x],[camera_transform.location.y],[camera_transform.location.z]])))

Should it not be the other way around ? @jedeschaud, Could you give some hints on this ?

Also the sensors are not synchronized:

Camera data timestamp:  3.4262565394164994 Export: KITTI_Dataset_CARLA_v0.9.12/Carla/Maps/Town07/generated/image_2/000000.pngSaving lidar pointcloud at timestamp  3.525256544118747 Export: KITTI_Dataset_CARLA_v0.9.12/Carla/Maps/Town07/generated/velodyne/000000.bin