Meaning of the LiDAR-Camera Calibrator Output

I think it is not clear the output given by the Lidar-Camera Calibrator.

What is the reference frame in wich the translation vector is expressed?

Moreover, the matrix has to transform a vector from LRF to CRF but I think it's the opposite.

Could someone explain me what are in detail the outputs of this Calibrator?

Answer 1

[Pratyush Swain]

Hey Michele,

The Lidar-Camera Calibrator is a tool used to calibrate the extrinsic parameters between a lidar sensor and a camera. It estimates the transformation matrix that relates the lidar reference frame (LRF) to the camera reference frame (CRF).

The translation vector represents the displacement between the origins of the lidar and camera reference frames.It specifies the three-dimensional translation along the x, y, and z axes.

For more information you can refer to https://www.mathworks.com/help/lidar/ug/lidar-camera-calibration.html

Hope this helps.