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