Anyone looked into xtion reprojection error ?

asked 2013-12-12 03:58:54 -0500

Guido gravatar image

updated 2013-12-12 04:00:53 -0500

Hi there,

I am trying to use the Xtion depth sensor. However, when I compute the reprojection error, i.e. when I project the given 3D coordinates to the corresponding rgb image, without moving the camera (so rvec = [0, 0, 0] and tvec = [0, 0, 0]), I get reprojection errors as high as 6 pixels. I calibrated the rgb camera and the error dropped to 4 pixels. This is still big.

I use the openni drivers from the ros package openni_launch and retrieve the depth_registered 3D points. I use the factory registration.

The steps I use are the following : Extract keypoints from an image Filter out the keypoints which 3D coordinates contain NaN Compute the reprojection error between the 3D

As anyone seen this problem too ? Is this error coming from a "too approximated" factory registration between rgb and ir cameras ? Any idea to improve the reprojection error appart from calibrating the ir/rgb poses ? Is there an easy way to calibrate the ir/rgb pose in openCV ?

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