Hi Gizem Karslioglu,
To create a transformation matrix for lidar projection without using checkerboard planes, please refer to the following steps:
- Load the calibration files from the camera and the lidar system into MATLAB Workspace.
- Extract the intrinsic parameters of the camera from the Camera Calibration File. The "cameraParameters" object can be used to store the intrinsic, extrinsic and lens distortion parameters of a camera.
- Extract the extrinsic parameters of the camera from the Camera Calibration File to determine the transformation matrix between the lidar and the camera coordinate system.
- Create a tform parameter for projection using the "rigidtform3d" object from the rotation and translation matrices obtained from the calibration file.
- Using the "projectLidarPointsOnImage" function, project the lidar points onto the 2D image using the intrinsic parameters and the tform object.
For better understanding please refer to the following MATLAB Documentations provided below:
cameraParameters
rigidtform3d
projectLidarPointsOnImage
I hope this helps!
Thank You
Maneet Bagga
