Left and right camera extrinsic seems to be wrong

ori-mrg / robotcar-dataset-sdk

Software Development Kit for the Oxford Robotcar Dataset

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Left and right camera extrinsic seems to be wrong #22

Open drorhu opened 5 years ago

drorhu commented 5 years ago

The mono left camera extrinsic: -0.0905 1.6375 0.2803 0.2079 -0.2339 1.2321 It seems from the car sensor location image that the translation should be close to: -1.55 -0.59 -0.16. It seems there is also a mistake with the mono right camera

scihacker commented 5 years ago

It seems to be wrong for me, too. And they will look fine if swapped.

scihacker commented 5 years ago

I finally find out the true extrinsics are just the inverse of the given ones, and my previous point is wrong. I think it should be fixed as there is no inverting logic in the code.