How to use Autoware's lidar_camera extrinsics

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Thanks! I will try this out and give you an update.

Hi @Akhil Kurup,

Could you calibrate it correctly?

Not yet! My project and priorities have changed and I am unable to spend time with it

Thanks for the clarification @pedroexe! It works now. My issue was with topic names. After fixing those, I can see a "calibrated" link between the lidar and camera on the tf tree

@Thiago de Borba I got it to work now. As I mentioned, the tools were performing normally. My issue was with topic names and namespaces

But for me the calibration extrinsics is complelty wrong. Is it working fine for you?

Ahh yes! With help from @djchopp here are a couple lessons learnt:

1. The transform generated is from lidar_frame -> camera_frame. So make the appropriate change in the launch file.
2. When you select points in RViz, it publishes to the /clickedpoint topic in your global fixed frame in rviz. What I did was to change it to the lidar_frame before selecting points. That way, the generated extrinsics were relative to the lidar.
3. After all is said and done, be sure to change the camera_frame to the newly published calibrated_frame in the camera launch file.