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ram-lab / plycal

Extrinsic calibration of the camera and LiDAR via polygon plane
GNU General Public License v3.0
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pcd data generation problem #4

Open SnailWalkerYC opened 3 years ago

SnailWalkerYC commented 3 years ago

Hi Ram,

I have another kind of the LiDAR with 40 lines, how do I transform my format LiDAR data to your input PCD format?

liaoqinghai commented 3 years ago

We use PCL pointcloud pcd format and you just change the "pc:angle_resolution" in config file for 50 lines LiDAR. Since we would split the pointcloud into N rings to extract polygon object and the key parameter used is "angle_resolution".

SnailWalkerYC commented 3 years ago

We use PCL pointcloud pcd format and you just change the "pc:angle_resolution" in config file for 50 lines LiDAR. Since we would split the pointcloud into N rings to extract polygon object and the key parameter used is "angle_resolution".

Thanks, Qinghai. I use this tool to calibrate the transformation between the camera and the LiDAR, but the yaw is obvious, not accurate. I follow the whole steps you in your doc, and using 10 snips of different poses, and filter the point cloud as your doc. Any potential recommendations or tips when using your tool?

liaoqinghai commented 2 years ago

Could you share any data?