In an environment like the picture below, I want to convert the target's camera coordinates Pc, measured with the oak-d camera, into world coordinates Pw and transmit them to the robot.
At this time, we need to know R and t to change it to world coordinates. At this time, the allowable error in world coordinates is about 5 to 10 cm.
Therefore, the accuracy of R and t is important.
Therefore, I would like to get answers to several questions below.
1. What is the rotation axis of the rotation verector (quaternion) that can be obtained from the IMU?
2. Is it possible to change the rotation axis to be as similar to world coordinates as possible?
3. What is the accuracy or tolerance of quaternion values for a camera in a fixed position?
4. Is calibration of the IMU required, if necessary? What is the correction method?
4. In order to accurately measure t, I need to accurately measure the camera's position coordinates from the origin I specify. Which point on the camera (or which designation behind the camera) should be measured as the camera's position?
I own oak-d cameras:
1. OAK-D Pro PoE
2. OAK-D Pro
3. OAK-D SR
Please let us know if you have any other information necessary for the success of the project.
