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utiasASRL / pyboreas

Devkit for the Boreas autonomous driving dataset.
BSD 3-Clause "New" or "Revised" License
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Some mistake on the camera-lidar odometry task #47

Closed ZhengDonglei closed 5 months ago

ZhengDonglei commented 7 months ago

I want to experiment with whether this dataset can validate the fusion odometry method we proposed. Unfortunately, when processing sequence boreas-2020-12-18-13-44, we attempted to test the provided pose ground truth, but the results seem problematic. We computed a relatively accurate 3D point cloud result by processing the lidar data and its corresponding poses. 微信图片_20240424174843

However, when we project the lidar points onto the camera coordinate system using the T_camera_lidar matrix, the projected points seem to have issues when using the camera pose, with significant drift occurring in many places. 微信图片_20240424174851

Obviously, there is a problem with the T_camera_lidar matrix. Is there a suitable solution to address this tricky issue? Thank you.

keenan-burnett commented 7 months ago

Hello,

We have a python tutorial notebook for doing lidar projection onto a camera image. Can you have a look at that as a reference to fix your problem?

https://github.com/utiasASRL/pyboreas/blob/master/pyboreas/tutorials/lidar_camera_projection.ipynb

It's hard to tell what the problem is here without seeing your code.