Why are all calibration matrices identity transforms in calib.txt?

[yqsony]

Thanks for providing such a large dataset.

I checked a few calib.txt ( calib.txt -- calibration of velodyne vs. camera. needed for projection of point cloud into camera. ) under the path like Rellis-3D/00004/calib.txt. They are all identity transforms. Are all the lidar points already transformed to the camera coordinate system?

P0: 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
P1: 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
P2: 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
P3: 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
Tr: 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0

[maskjp]

Hi, @yqsony,

Sorry for the late reply! You can find the transformation between LiDAR and Basler camera here.

Best wishes!