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robofit / but_velodyne

ROS packages for Velodyne 3D LIDARs provided by Robo@FIT group.
GNU Lesser General Public License v3.0
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Equation problem about how to calculate t_x t_y and t_z #24

Closed mariotyped closed 6 years ago

mariotyped commented 6 years ago

I found the equation in your code to calculate the t_z is "translation[INDEX::Z] = radius3D * focal_len / radius2D - velodyne.front().z;". while in the paper it's image

I can not derive the equation of either of the above. When i use the equation in your code, only the 3D points in the surface of the marker can be mapped correctly to the 2D image.So can you tell me which one is correct and better how to derive it.