Question about the tform in lidar camera calibration

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JIAO Jianhao
JIAO Jianhao el 4 de Oct. de 2021
Hi all
I follow the ``lidar camera calibration'' tutorial to calibration my sensor suite. I have manually check the extract 2D corners and 3D corners. However, I got wrong transformation results.
The initial transforamtion that is given by me:
0 0 1.0000 0
-1.0000 0 0 0
0 -1.0000 0 0
0.0300 0.1300 -0.0700 1.0000
The resulting transformation that is computed by the ``estimateLidarCameraTransform'' function:
0.0258 0.0873 -0.9958 0
0.9963 0.0797 0.0328 0
0.0822 -0.9930 -0.0849 0
-0.3118 -0.2772 3.1690 1.0000
The code and data link are shared in: https://drive.google.com/drive/folders/1WNQDUbW1K90Cx7AcDlp6sLJ4j5SFXKVV?usp=sharing
Thanks.

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