improved accuracy matrices

Author: AadarshHegde123

GEMstack/offboard/calibration/lidar_to_camera.py

@@ -1,14 +1,14 @@
 import numpy as np
 
-T_lidar_vehicle = np.array([[ 0.99939639,  0.02547917,  0.023615,    1.1       ],
-                            [-0.02530848,  0.99965156, -0.00749882,  0.03773583],
-                            [-0.02379784,  0.00689664,  0.999693,    1.95320223],
-                            [ 0.,          0.,          0.,          1.        ]])
+T_camera_vehicle = np.array([[ 0.00349517, -0.03239524, 0.99946903, 1.75864913],
+          [-0.99996547,  0.00742285,  0.0037375, 0.01238124],
+          [-0.00753999, -0.99944757, -0.03236817, 1.54408419],
+          [0,0,0,1]])
 
-T_camera_vehicle = np.array([[-0.025131,   -0.0304479,   0.99922038,  1.78251567],
-                             [-0.99892897,  0.0396095,  -0.0239167,   0.18649424],
-                             [-0.0388504,  -0.99875123, -0.03141071,  1.5399846 ],
-                             [ 0.,          0.,          0.,          1.        ]])
+T_lidar_vehicle = np.array([[ 0.99941328,  0.02547416,  0.02289458, 1.1],
+                            [-0.02530855,  0.99965159, -0.00749488, 0.03773044170906172],
+                            [-0.02307753,  0.00691106,  0.99970979, 1.9525244316515322],
+                            [0,0,0,1]])
 
 # Invert Camera->Vehicle transformation
 T_vehicle_camera = np.linalg.inv(T_camera_vehicle)

GEMstack/offboard/calibration/test_transforms.py

@@ -11,13 +11,16 @@
 image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)  # Convert BGR to RGB
 
 # Transformation Matrix
+import numpy as np
+
 T_lidar_camera = np.array([
-    [0.001090, -0.999489, -0.031941,  0.149698],
-    [-0.007664,  0.031932, -0.999461, -0.397813],
-    [0.999970,  0.001334, -0.007625, -0.691405],
-    [0.000000,  0.000000,  0.000000,  1.000000]
+    [ 2.89748006e-02, -9.99580136e-01,  3.68439439e-05, -3.07300513e-02],
+    [-9.49930618e-03, -3.12215512e-04, -9.99954834e-01, -3.86689354e-01],
+    [ 9.99534999e-01,  2.89731321e-02, -9.50437214e-03, -6.71425124e-01],
+    [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00]
 ])
 
+
 # Convert LiDAR points to homogeneous coordinates
 num_points = lidar_points.shape[0]
 lidar_homogeneous = np.hstack((lidar_points, np.ones((num_points, 1))))  # (N, 4)