I'm trying to transform coordinates from camera frame to world frame. I first use the Lua script to get the transformation matrix between the camera and the world origin, e.g. Trans=sim.getObjectMatrix(cameraHandle,-1). Then I transform the point cloud obtained by the vision sensor in Matlab, e.g. ptCloud = pctransform(ptCloud, affine3d(Trans_Transpose)).
I think everything seems pretty straightforward and should be alright. However, the result seems not. There is an angle error between the processed point cloud and the ground truth. Does anybody have good ideas? Thank you very much.
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I just double-checked my code. The problem is with my point cloud input. The other stuff is good. Thanks anyway.