https://github.com/sandeepnmenon/hand_eye_calibration

Code apapted from https://github.com/ethz-asl/hand_eye_calibration/blob/master/LICENSE to run as a python package without ROS or Catkin
https://github.com/sandeepnmenon/hand_eye_calibration

Last synced: 24 days ago
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Code apapted from https://github.com/ethz-asl/hand_eye_calibration/blob/master/LICENSE to run as a python package without ROS or Catkin

• Host: GitHub
• URL: https://github.com/sandeepnmenon/hand_eye_calibration
• Owner: sandeepnmenon
• License: mit
• Created: 2022-02-15T09:40:02.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-04-13T07:20:04.000Z (over 2 years ago)
• Last Synced: 2023-03-01T08:35:57.835Z (over 1 year ago)
• Language: Python
• Size: 656 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# pose_alignment_module

Code apapted from https://github.com/ethz-asl/hand_eye_calibration/blob/master/LICENSE to run as a python package without ROS or Catkin

# certifiable_calibration

Extrinsic calibration python code adapted from https://github.com/utiasSTARS/certifiable-calibration

# Running code

## Compute aligned poses

```

python compute_aligned_poses.py \

  --poses_B_H_csv_file tf_poses_timestamped.csv \

  --poses_W_E_csv_file camera_poses_timestamped.csv \

  --time_offset_output_csv_file time_offset.csv \

  --aligned_poses_output_numpy True

```

## Compute extrinsic calibration

Change the path to the aligned poses file in ```T_vki_filename``` and ```T_cki_filename```

```

python nonoverlapping_hand_eye.py 

```

## Visualize trajectories

python visualisations/visualize_trajectories.py --imu_trajectory_filename imu_trajectory_filename --camera_trajectory_filename camera_trajectory_filename

## Extrinsic calibration