autoware激光雷达和相机标定

激光雷达和相机标定

ML:1.0

CameraExtrinsicMat: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ -7.7790843100493945e-02, -2.4332492096283465e-02,
-9.9667272188923595e-01, 2.9736582189798355e-02,
9.9696831005122966e-01, -3.5685379128176375e-03,
-7.7726792618500185e-02, 7.8517058864235878e-03,
-1.6653778276735642e-03, -9.9969755194536147e-01,
2.4536323097440582e-02, -2.1072627604007721e-01, 0., 0., 0., 1. ]
CameraMat: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1.0368479264581563e+03, 0., 6.3824154867849927e+02, 0.,
1.0365568752556060e+03, 3.6724821987437957e+02, 0., 0., 1. ]
DistCoeff: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 1.6957648272811977e-02, 1.8810925993432863e-02,
-7.4924769244694373e-04, -2.0282223380795470e-04,
-7.6387620890063776e-02 ]
ImageSize: [ 1280, 720 ]
ReprojectionError: 0
DistModel: plumb_bob

yaml

需要提醒的是：这个外参是camera_to_lidar即相机到雷达的外参，不是雷达到相机的外参，如需使用雷达到相机的外参需要将此外参矩阵取逆

look source code :
求出相机在世界坐标系下的位置,坐标系转换：相机-》雷达
然后代码里面取了转置==》得到的是坐标系转换：相机-》雷达 ，坐标转换：雷达-》相机