How to do camera calibration for Primesense?

Question

Hello there,

I want to calibrate my Carmine 1.09 depth sensor. I am using a tutorial "How to Calibrate a Monocular Camera" in ROS.

It asks me to find the topic "/camera/image_raw". However, I don't have such topic, instead I have following similar topics

"/camera/depth/image_raw"
"/camera/depth_registered/image_raw"
"/camera/ir/image_raw"
"/camera/rgb/image_raw"

I tried to calibrate the camera using "camera/depth/image_raw" with the following command:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/depth/image_raw camera:=/camera/depth

Is this command correct? If I run this command, I get a message like this:

Waiting for service /camera/depth/set_camera_info ...
Service not found

Do I need to make any changes to the code in cameracalibrator.py? Please let me know the right way to calibrate?

Thanks in advance.

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Originally posted by Keerthi Raj on ROS Answers with karma: 7 on 2013-12-18

Post score: 0

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Original comments

Comment by demmeln on 2013-12-20:
Without knowing much about camera calibration, it seems that the tutorial is talking about calibration of a grayscale/color camera, not a depth camera. So for calibration of the primesense rgb camera you might want to rather use "/camera/rgb/image_raw"? How to calibrate the depth is another story.

Answer 1

For a camera to be calibrated and its images corrected by the image pipeline, the camera driver should publish a camera_info topic (with the current calibration in CameraInfo message) and provide a set_camera_info service (to update the current calibration).

If you are using the openni driver, they should be provided. In your case /camera/rgb/camera_info and /camera/rgb/set_camera_info.

Are the topic and the service there? What driver are you using for the camera?

Please note that there is a newer version of the driver: openni2_camera solving some issues with cameras not working properly with the former version. This is discussed in question 54747.

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Originally posted by joanpau with karma: 191 on 2013-12-19

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Keerthi Raj on 2013-12-22:
Thanks joanpau. I ran the calibration for "camera/rgb/camera_info". But, when I hit the calibrate button, the display window hangs and the respective terminal also hangs and calibration will not end. Any idea why this happens?

Comment by Keerthi Raj on 2013-12-23:
It worked. It was taking lot of time to process and my PC didn't respond for some time. So, I thought it was hung. Anyways, I was able to calibrate the camera. Thank you very much.

Comment by joanpau on 2014-01-20:
So from your comment I guess that the remapping of the camera namespace was wrong, wasn't it? In that case, you should consider accepting the answer (I always forget to do it, too ;-).