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visibilitydataset / visibilitydataset.github.io

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Thermal to Lidar calibration file #2

Closed SayedNadim closed 1 year ago

SayedNadim commented 1 year ago

Hi, Thanks for your great work. Can you please provide the thermal to lidar calibration parameters? I couldn't find it in the calibration file. Thanks again.

alexjunholee commented 1 year ago

Thanks for your attention to our dataset.

We already provided the extrinsic transformation of (Thermal-RGB) and (LiDAR-RGB) in both sensor systems. You may obtain the transformation of (Thermal-LiDAR) by multiplying the relative translations in the SE3 matrix (44) form. $T{LiDAR,ther}$ = $(T{ther,LiDAR})^{-1}$ = $(T_{ther,RGB}T{RGB,LiDAR})^{-1}$ = $T{LiDAR,RGB} * T^{-1}_{ther,RGB} $

Thanks!