Calibration issue

[BarryLoveBerry]

Hi all,

where to find the extrinsic matrix of lidar frame to vehicle frame?

[xcyan]

Thanks for your interest!

I assume you are referring to the perception dataset.

v1 format v2 format

[BarryLoveBerry]

Thanks for your interest!

I assume you are referring to the perception dataset.

v1 format v2 format

Thanks for your interest!

I assume you are referring to the perception dataset.

v1 format v2 format

Thanks a lot. I found the pose matrix. And I have a another question, does the frame.pose.transform is the same as the frame.context.laser_calibrations??

I am curious about when we use waymodateset creat_waymo_info function, what is the the top lidar's coordinate? on lidar frame or on vehicle frame? if the top lidar data is on the vehicle frame, which RT matrix is correct?

if you have any suggestions for this issue, please let me know.Thanks in advance.

[xcyan]

frame.pose.transform defines the world from vehicle transform, which is different from the vehicle from TOP Lidar transform. Please read the proto documentation in details.

Also, refer to Figure 1 of the WOD paper.