Lidar centre vs pointcloud projection about cam_lidar_calibration

[darrenjkt]

It does appear to have low distortion but you can't really be sure that it doesn't affect the calibration. Double-check the distortion matrix in your camera driver and you'll have to implement a rectification of the image in this repo.

Additionally, you should have an open area for capturing chessboard samples. Make sure you get poses that span the width of the image frame, and also which go from near to far. If you don't have chessboard poses in the extremities of the image, it may not find a good calibration. Make sure you also included poses where the chessboard is tilted up and down in order to get more varied normals.