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projection from Lidar to camera #120
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Hi Git89, How are you projecting the lidar to camera? |
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Hi!
Thanks for the greatest work. I got a problem while using the calibration result to do projection from Lidar to camera.
Hardware: Logitech web camera (Mono), VLP-32C Velodyne
![ccc](https://user-images.githubusercontent.com/61562295/81312583-cb426480-9054-11ea-9946-d41d71e19cd9.png)
![config](https://user-images.githubusercontent.com/61562295/81312052-26c02280-9054-11ea-9042-100f5ff3b058.png)
![c](https://user-images.githubusercontent.com/61562295/81312482-b1a11d00-9054-11ea-9056-9952b8f3d1f8.png)
![dimen](https://user-images.githubusercontent.com/61562295/81312331-86b6c900-9054-11ea-9701-d250504e59b4.png)
Hardware setup: camera is placed on top of Lidar. Camera and Lidar both face front. No Gap between camera and Lidar.
Parameters files:
For aurco_mapping
For Lidar_camera_calibration
Results:
![rrrr5](https://user-images.githubusercontent.com/61562295/81312856-1ceaef00-9055-11ea-9194-4d6dd5a7c661.png)
Question1
the ypr I got is (2.18,-1.42, -0.60) degree is (142,-81,-34).
Is this result correct based on my hardware setup?
If not, are there any suggestions you can give me?
Anyway, I can not project any points from Lidar to camera frame now.
Question2:
why does final rotation not come with a final translation?
which results should I use when I do projection? ypr or final rotation or average rotation and translation?
Any additional information can be provided if needed.
Many thanks in advance.
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