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Providede additional raw sweeplidar and is not a rigid transformation with existing sweeplidar 3D points #84
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I was just going to describe the exact same problem. I've downloaded raw data given the link here: #67 Then, I've tried to estimate rigid transformation from the world/ego frame to raw lidar frame, and this is the result: @nisseknudsen , you know anything about it? Or maybe you could provide the transformation from ego frame to lidar frame, so we won't have to reverse engineer it? |
I think transform between raw pointcloud and pandaset-pointcloud is not a rigid transformation because of motion compensation used. |
@xpchuan-95 , sure, I am ok with motion compensation :) I would be even more ok if the rigid transformation from ego frame to lidar frame would be provided by PandaSet authors :) |
I would like to have the transformation from ego frame to the sensor frames as well! @xpchuan-95 |
Hi! I wish to compute a rigid affine transformation between additional provided raw sweeplidar and existing sweeplidar. However, not matter I use moorse-puesodo inverse to compute or use ICP algorithmn to compute, I can not acqurie a feasible affine transformation between the two.
In visualization, I find they are in correspondence but exists distorion in existing sweeplidar. May I know what additional operation you apply to transfer the raw sweeplidar to current sweeplidar points?
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