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UbiquityRobotics / ubiquity_main

Main documentation as well as other misc files
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Need extrinsic calibration: Upward facing camera being non-planer with the floor impacts navigation #211

Open mjstn opened 4 years ago

mjstn commented 4 years ago

We have been seeing the stock RaspiCam cameras being as much as 1-2 degrees off of pointing up completely normal to the floor. A very tiny offset in pitch of a half degree is seen due to a typical chassis and the front to back wheels heights. The bulk of this problem is in roll and is due to the way the RaspiCam is attached to the PCB is with a flexible foam tape and it seems to just about never be parallel to the board for the Y (side to side) axis of the camera. As a point of reference, a 1 degree offset gives a difference in position reading of 8cm from the Magni being in one orientation VS turned around 180 degrees when the roof is 2.5 meters above the magni camera.

rohbotics commented 4 years ago

@JanezCim can you provide @kristjanp28 the info needed test this.