A spectre is is haunting robotics - the spectre of calibration.
In this repository, we're gonna focus on
Note: stock intrinsics on the Kinect are OK - not great, not terrible. However, slight inaccuracies in the calibration cause issues, in particular color bleeding and non-planar surfaces...
Known issue: depth-to-rgb
Check k4aviewer
TODO: not really supported...
Possible future options:
- Perform calibration from rgb_to_depth. The justification here is that if we calibrate to the depth camera's frame, then the error profile will be better aligned with our downstream output (good point clouds). However, it's a bit spotty visually, so apriltags may not be visualized properly.