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Left and right camera extrinsic seems to be wrong #22

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drorhu opened this issue Jul 31, 2019 · 2 comments
Open

Left and right camera extrinsic seems to be wrong #22

drorhu opened this issue Jul 31, 2019 · 2 comments

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@drorhu
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drorhu commented Jul 31, 2019

The mono left camera extrinsic:
-0.0905 1.6375 0.2803 0.2079 -0.2339 1.2321
It seems from the car sensor location image that the translation should be close to:
-1.55 -0.59 -0.16.
It seems there is also a mistake with the mono right camera
@scihacker
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scihacker commented Sep 27, 2019 •
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It seems to be wrong for me, too. And they will look fine if swapped.

@scihacker
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scihacker commented Sep 28, 2019 •
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I finally find out the true extrinsics are just the inverse of the given ones, and my previous point is wrong.
I think it should be fixed as there is no inverting logic in the code.

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@scihacker @drorhu