Wheeled Odometry Calibration Setup Examples #5244
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doc/t265.md
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| ### Extrinsic Calibration for Wheeled Odometry Examples | ||
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| - All calibration metrics are relative to T265 origin frame. I.e.: They are offsets/rotations *from* the T265 origin *to* the robot's origin. Said another way, we transform a point from frame B (Robot Odometry) to frame A (T265 Pose.) |
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possibly even more clear by adding a formula, A_p = H_AB * B_p, where A_p is the point expressed in frame A, B_p is the point expressed in frame B, and H_AB is the corresponding homogeneous transformation (http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly)
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This makes sense. So just to be clear...H_AB would effectively be the transformation matrix derived from the values in the JSON calibration file. Is that correct?
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Looks good, thanks for the contribution, @krazycoder2k! |
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@krazycoder2k, I squashed the commits and created this new PR: #5280. |
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Thanks @schmidtp1 I'll add the math formula text you suggested to that PR now. |
Added basic wheeled odometry description / sample drawings/json to T265 documentation.