Camera normal in z direction about cam_lidar_calibration

[darrenjkt]

Oh that's interesting. I didn't have time to finish looking into that actually.

What's the result when you use z=-1 compared to z=1?

[Yibin122]

using -1: (1.063, 0.301, 1.886,-0.336,-0.791,-2.610)
using 1: (-1.618,-0.025,-1.633,-1.460, 0.118, 0.741)

Is there any specific reason why you changed it to -1?

[darrenjkt]

It wasn't my choice to change it to -1. We had someone previously refactor the code and this was one of the changes made. My guess is that it might be a specific configuration to cater for how certain cameras/lidars pick up the chessboard (maybe the rotation convention/ left-hand coordinate system or something). Though I apologize I don't have more time to look into this.

For others who are facing similar issues, it's good that this may be a potential fix.