lidar_colorization and mast3r reconstruction codes added#229
lidar_colorization and mast3r reconstruction codes added#229krishauser merged 7 commits intos2025from
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There is no readme for how this functionality is supposed to work. Also, the calibration is hard-coded rather than being read from settings.
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You should be using the calibration given by the calibration team.
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Yes, professor. The numbers were from the calibration team. You mentioned I should read from settings. Is that I could just add an argument asking fro the intrinsic and extrinsic matrices' pathes, and load from the files at those pathes? @krishauser
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@krishauser Professor, I have fixed the issues. Please check and merge the PR.
…nd clean those hard-coded data in codes
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This is for the 3d reconstruction codes using MASt3r with the scaling codes that utilize the GNSS information tagged to the images to correctly scale the reconstructed pointcloud to make the pointcloud reflect the true distance between different points.
Also, this pull request is for lidar pointcloud colorization using the images captured from four cameras on the car. It utilizes the intrinsic and extrinsic matrices of the four cameras and the lidar extrinsic matrix.