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I'm going to assume that the camera and lidar unit are static, relative to each other, i.e. they don't have relative motion between frames.

In this case, the calibration only needs to be completed once. You can do this offline with a collection of scans. Once you have completed calibration to achieve the transformation matrix, all you need to do is use the matrix to translate the camera coordinate system to that of the lidar (or vice versa). eg P_cam = Mtx*P_lidar