See points_world.csv for ground truth positions of registration points.
1: M01: Marker / visualeyez pattern 2: M02: Marker / visualeyez pattern 3: M03: Marker / visualeyez pattern 4: M04: Marker / visualeyez pattern 5: M05: Marker 6: M06: Marker 7: M07: Marker 8: M08: Marker 9: M09: Marker 10: M10: Marker 11: M11: Marker 12: M12: Marker 13: C01: Room roof corner (see below) 14: C02: Room roof corner (see below) 15: C03: Room roof corner (see below) 16: C04: Room roof corner (see below)
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BIRDS EYE -
[wall] C02---B----C03 | | | | (X)-----> +X | | | A C | | | | +Y | | | | | | C01--------C04 <-- Maybe a bit low / occluded by gimbal [door]
STEP1 : Axis alignment
Wall A is the plane through (M06, M07, M09)
Wall B is the plane through (M01, M02, M03)
Floor / roof plane C is A x B
STEP2 : Offset
M05, M06 and M09 define the origin
X: (M05[X]+M09[X])/2
Y: (M05[Y])
Z: (M06[X]+M09[X])/2