velodyne project to image not correct

[zhanghm1995]

Hi, thanks for your sharing code first.
However, when I try your code to realize the velodyne cloud points projection to image, I found there are mismatch between the cloud points and the corresponding image object, such as the cyclist of "2011_09_26_drive_0005_sync" dataset.

You can see the points cloud of the cyclist go through the side car.
I don't know why, maybe the original calibration matrix is not correct? Or the calculation is not right, because I am not understand the calibration matrix very well in "calib_cam_to_cam.txt".
Thanks!

[linbaiwpi]

Hi, thanks for your sharing code first.
However, when I try your code to realize the velodyne cloud points projection to image, I found there are mismatch between the cloud points and the corresponding image object, such as the cyclist of "2011_09_26_drive_0005_sync" dataset.

You can see the points cloud of the cyclist go through the side car.
I don't know why, maybe the original calibration matrix is not correct? Or the calculation is not right, because I am not understand the calibration matrix very well in "calib_cam_to_cam.txt".
Thanks!

It's hard to say before looking at your code. But I guess it might be the problem is glob.glob. It may not return your desired result. You could check by simply print the result.
To solve this, you may want to use os.listdir function and then .sort() method to make sure all the files are in the increasing order.