Closed ashawkey closed 5 years ago
Hi, thank you very much for providing this useful coordinate system transformation code.
I noticed that you directly used data.calib.T_velo_imu in the matrix multiplications to get from velodyne -> IMU coordinate system in line 117. However, from my understanding, T_velo_imu is the transformation matrix to get from IMU -> Velodyne coordinate system. As with all other transformation matrices, the general format is T_target_source.
I believe that is also the reason why #17 is also brought up.
Do correct me if my understanding is wrong!
Add a demo that mainly summarizes those issues about how to project velodyne data to image and world coordinate.