feat: camera move forward along y axis of the world frame

tomas789 · Mar 29, 2021 · ef6b16b · ef6b16b
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diff --git a/README.md b/README.md
@@ -32,8 +32,8 @@ Thanks to the work of @jnitsch, _kitti2bag_ can now export velodyne laser data a
 
 ## How to install it?
 
-It is very easy! On the machine with ROS installed, just run
-install pykitti from source
+It is very easy! On the machine with ROS installed
+install pykitti from **source** instead of from pip
 ```bash
 git clone https://github.com/utiasSTARS/pykitti.git # test on commit d3e1bb81676e831886726cc5ed79ce1f049aef2c
 cd pykitti

diff --git a/kitti2bag/kitti2bag.py b/kitti2bag/kitti2bag.py
@@ -390,10 +390,11 @@ def run_kitti2bag():
         try:
             velo_frame_id = 'velo_link'
             velo_topic = '/kitti/velo'
+            tf_camera_init = np.array([[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0],[0, 0, 0, 1]])
 
             transforms = [
-                ('world', 'velo_init', np.eye(4, 4)),
-                ('world', 'camera_init', inv(kitti.calib.T_cam0_velo)),
+                ('world', 'camera_init', tf_camera_init),
+                ('world', 'velo_init', tf_camera_init.dot(kitti.calib.T_cam0_velo)),
                 (cameras[0][1], velo_frame_id, kitti.calib.T_cam0_velo),
                 (cameras[0][1], cameras[1][1], kitti.calib.T_cam0_velo.dot(inv(kitti.calib.T_cam1_velo))),
                 (cameras[0][1], cameras[2][1], kitti.calib.T_cam0_velo.dot(inv(kitti.calib.T_cam2_velo))),