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tudelft-iv / multi_sensor_calibration

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How to use the calibrated transformations outside ROS? #38

Open paaraujo opened 2 years ago

paaraujo commented 2 years ago

Hi, I could successfully run the calibration workflow. Now, I have a couple of YAML files with the transformation matrix inside. However, I am not planning to use that inside ROS. So, what is the format of the transformation matrix? I see it is a homogenous matrix, but how can I properly extract the relative distance of the sensors wrt to the reference? For example, I assumed the homogenous matrix and I prepared a 4x4 matrix, I considered the last column as my translation vector [X, Y, Z]. I compared these values with the estimation I have from the hardware, and they are not close. Is there a proper way to extract this information? Thank you.

RonaldEnsing commented 1 year ago

I would also expect that if you have a 4x4 matrix, the last column would contain the X, Y, Z values. Can you share your resulting matrix here?