ethz-asl/hand_eye_calibration

Support nonlinear optimization step

Opened this issue · 2 comments

HannesSommer commented

This requires:

  • Output measurements CSVs with outliers replaced by empty lines / lines with timestamp only to feed to the NLOpt step
  • Output the resulting extrinsic calibration (including temporal offset) as files (decide on format, should be readable by the user. Candidates: YAML directly or Boost property tree + XML / YAML / Info / Ini)
  • Somehow communicate the type of sensor (relative or absolute pose measurements)
NikolausDemmel commented

How would this be different from what is already implemented in batch_estimator? Just the transfer of outliers?

HannesSommer commented

It is about improving the communication of the python scripts with the batch_estimator. The empty check boxes above indicate what is still missing in particular.

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