Feature request: Can you provide Lidar Scan in Coordinate centered at Lidar Scanner?(Rather than in world coordinate system)

[TWJianNuo]

No description provided.

[TWJianNuo]

We have an algoritgmn to clean out the occlusion points in the scan due to the position difference between rgb camera and lidar scanner, but require a stable relative position between Lidar and Rgb camera. We plan to do that for Pandarset. However, due to your calibration, the Lidar coordinate system is keep drifting, make it impposible to apply. Can you supply the affine transformation matrix to transfer the lidar data to its original lidar centered coordinate system? Many thanks!
The occlusion we try to eliminate is marked as red for example.

[xpchuan-95]

#67 Is this issue the same with yours?

[TWJianNuo]

Oh, I should read previous questions more carefully. That really helps a lot. But do we have the calibration matrix to convert Lidar Ego coordinate to camera coordinates? If not I think I can try to calibrate myself since this matrix is identical for all sequences.

[TWJianNuo]

Sorry for I find out the problem so late. Can we also have the raw solid state lidar groudtruth as well? In the provided additonal lidar scan file, they are coming from the 64 channel lidar.