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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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d435 extrinsic estimation with April Board #611

Closed Deok-min closed 1 year ago

Deok-min commented 1 year ago

Hi, thank you for sharing great work. By the way, I'm trying to estimate Transformation matrix between April board and wrist camera (rs d435). But, the visualized result is not accurate. The projected depth image and estimated board frame is not aligned. Could you give me some advice to improve the accuracy? april_tag_extrinsic_rviz

And my code followed below steps.

  1. First i measured intrinsic parameters provided code "kalibr_calibrate_rs_cameras".

  2. Generate Camera.geometry using the intrinsic parameters obtained from above step. image

  3. Estimate Extrinsic parameters using provided function, '_generateExtrinsicsInitialGuess()'. image

How can I improve the tf accuracy? Thank you for reading.

goldbattle commented 1 year ago

Maybe there is an additional transformation to your depth camera. Not sure.

goldbattle commented 1 year ago

Feel free to reopen if this is an issue with the Kalibr tools and not your implementation.