We are currently working on a visual recognition project, using the realsense D435i camera. During the recognition, we found that the hand-eye calibration was inaccurate. Currently we believe that the reason is that the angle of the camera is too biased, causing the center position of the pixel of the object in the image to differ from the three-dimensional shape of the object in the real world. If the center deviation is too large, the three-dimensional coordinates obtained by the camera will not be accurate, so the calibration results will also be inaccurate.
The previous zed camera library function itself integrated a method of realizing three-dimensional target detection by combining the target detection algorithm, including a method of obtaining the three-dimensional bounding box of the target from the scene point cloud. We can directly read the three-dimensional coordinates of the centroid of the target, so The three-dimensional coordinates and calibration results in the robotic arm will be more accurate. Can the realsense camera provide corresponding library functions for identification?
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