Filter to address extrinsics mis-calibration

[richardrl]

Let's say we have four cameras with calibrated extrinsics in a common world frame.

Let's say these four cameras are all focusing on a single object.

Due to noise in the calibration, when you stitch together the four partial pointclouds, the stitched together pointcloud won't be perfect.

Is there any filter to assist in this situation? Perhaps by registering each pointcloud?

[MartyG-RealSense]

Hi @richardrl A discussion at #9832 (comment) contains links to information about registration of point clouds using Python and Open3D or PCL.

The CONIX Research Center at Carnegie Mellon also developed a C++ based system for stitching pointclouds from up to 20 RealSense 400 Series cameras.

https://github.com/conix-center/pointcloud_stitching

[MartyG-RealSense]

Hi @richardrl Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.