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mcgi5sr2 / kinect2_tracker

body tracking for ROS using Nite2.2 and libfreenect2
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Kinect extrinsic calibration #6

Open buoncubi opened 6 years ago

buoncubi commented 6 years ago

Hi! Thanks for the great tool, I was able to use the package and track the user successfully. However, I have problems in calibrating the Kinect for my environment.

I used to do my extrinsic calibration by detecting a marker with a camera of the robot and the Kinect, through the identification of the transformation between the two point of views. I could calibrate my kinect2 with the driver available in; https://github.com/code-iai/iai_kinect2. Such a transformation works for point cloud but does not for the skeleton.

Do you know which is the reference frame of the camera? Alternatively, do you know how can I see the point cloud used by the tracker (in order to identify its viewpoint) and if/how can I add a cloud transformation?

mcgi5sr2 commented 6 years ago

sorry this is legacy work for me, I'm afraid I can't assist you

dwhit commented 6 years ago

@buoncubi did you ever find a way around this? I am having the exact same issue! Thanks!

buoncubi commented 6 years ago

@dwhit Unfortunately, I did not solve it yet. I have tried to work with the low driver, but it seems quite close. I have tried with different approaches, but I always got a calibration error of almost 10cm. Please, if you find any clues on how to solve it let me know as well.