Hi,
I am currently in a situation where I have multiple cameras and I wish to combine their measurements into a common frame: the **world frame.**
In order to do this, I use an April Tag and find the camera's world poses at the start and then use it later on.
So I use 4x4 Homogenous transformation matrices (T) and calculate my world pose like this:
T_world_to_robot = T_world_to_camera x T_camera_to_robot
.
I am quite certain my `T_camera_to_robot` matrix is correct ( I visualise this by projecting a 3D mesh of the robot - **please see image below**), however I am getting poor results (x y and z coordinates are off by *50cm* when the robot is close/far from the camera) for the world estimates from this equation. I average the world estimates obtained from each camera to produce the `T_world_to_robot` matrix.
**Hence my question:**
1. Is this the right way to obtain the world pose of the robot when using multiple cameras ?
2. Assuming someone provides the answer for my Q1, and I can get good world estimates,
Can I just average (average the x,y,z coordinates and roll,pitch,yaw) the world estimates from each camera
to obtain a combined result ?
The blue mesh is projected using `T_camera_to_robot` (and this seems to align perfectly)
The magenta mesh is the projected using `T_world_to_robot`
↧
