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personalrobotics / OpenChisel

An open-source version of the Chisel chunked TSDF library.
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Camera extrinsics #16

Closed gschoeni closed 7 years ago

gschoeni commented 7 years ago

I am curious about the camera extrinsics to be passed into the IntegrateDepthScan or IntegrateDepthScanColor methods. When I pass in my extrinsic transform I get good reconstructions from each camera, but they are not merged to the origin. It seems like they are reconstructed where the cameras are in space.

Maybe you can spot something I am doing wrong.. I manually got the calibration from my kinects and am currently not using the ros_server code.

Here's a photo and the camera parameters to be more specific:

screenshot from 2017-05-23 15-13-33

And here are the camera extrinsics for each camera:

Camera 1 Translation -0.14346 0.198077 -2.68291

Camera 1 Rotation: 0.595904 -0.273674 -0.754984 -0.800451 -0.278087 -0.530986 -0.0646346 0.920744 -0.384776

Camera 2 Translation -0.252438 0.226531 -2.69458

Camera 2 Rotation: 0.861868 0.17409 0.476315 0.50523 -0.376048 -0.776744 0.043894 0.910099 -0.412059

Camera 3 Translation -0.0606926 0.626859 -1.58876

Camera 3 Rotation: -0.993451 0.0622725 0.0957956 0.104139 0.148552 0.983406 0.0470085 0.98694 2-0.154064

Any help would be greatly appreciated! :)

gschoeni commented 7 years ago

Figured it out. My coordinate system from the kinect had y pointing up, whereas openchisel expects it down. I also had to translate my camera from world to camera positions.