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. 2019 Mar 31;19(7):1561. doi: 10.3390/s19071561
Algorithm 1 Pseudo code of the main calibration.
  •   1:

    for all markerId do

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        worldCloud += simulateMarker(worldMarkerPoses[markerId], markerId)

  •   3:

    avgWorldMarkerPose = getAverageTransformation(worldMarkerPoses)

  •   4:

    for all sensor do

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        sensorData[sensor] = recordRosTopics(sensor)

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        markerPoses = processRecordedData(sensorData)

  •   7:

        avgMarkerPose = getAverageTransformation(markerPoses)

  •   8:

        sensorPose = avgWorldMarkerPose · avgMarkerPose−1             ▹ ArUco-based sensor pose

  •   9:

        sensorCloud = transformCloud(sensorData.croppedCloud, SensorPose)

  • 10:

        sensorPoseRefined = refineTransformation(sensorCloud, worldCloud)    ▹ ICP refined pose