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Providede additional raw sweeplidar and is not a rigid transformation with existing sweeplidar 3D points #84

Open TWJianNuo opened 4 years ago

TWJianNuo commented 4 years ago

Hi! I wish to compute a rigid affine transformation between additional provided raw sweeplidar and existing sweeplidar. However, not matter I use moorse-puesodo inverse to compute or use ICP algorithmn to compute, I can not acqurie a feasible affine transformation between the two.

In visualization, I find they are in correspondence but exists distorion in existing sweeplidar. May I know what additional operation you apply to transfer the raw sweeplidar to current sweeplidar points?

dkoguciuk commented 4 years ago

I was just going to describe the exact same problem.

I've downloaded raw data given the link here: https://github.com/scaleapi/pandaset-devkit/issues/67 I've read the raw point cloud in lidar coordinate frame like shown here: https://github.com/scaleapi/pandaset-devkit/pull/77

Then, I've tried to estimate rigid transformation from the world/ego frame to raw lidar frame, and this is the result:

Screenshot from 2020-11-25 16-50-23

@nisseknudsen , you know anything about it? Or maybe you could provide the transformation from ego frame to lidar frame, so we won't have to reverse engineer it?

xpchuan-95 commented 3 years ago

I was just going to describe the exact same problem.

I've downloaded raw data given the link here: #67 I've read the raw point cloud in lidar coordinate frame like shown here: #77

Then, I've tried to estimate rigid transformation from the world/ego frame to raw lidar frame, and this is the result:

Screenshot from 2020-11-25 16-50-23

@nisseknudsen , you know anything about it? Or maybe you could provide the transformation from ego frame to lidar frame, so we won't have to reverse engineer it?

I think transform between raw pointcloud and pandaset-pointcloud is not a rigid transformation because of motion compensation used.

dkoguciuk commented 3 years ago

@xpchuan-95 , sure, I am ok with motion compensation :) I would be even more ok if the rigid transformation from ego frame to lidar frame would be provided by PandaSet authors :)

jlbslbs commented 3 years ago

I would like to have the transformation from ego frame to the sensor frames as well! @xpchuan-95