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Hello,

I am doing an app to merge point clouds. I am using kinect but i need to improve accuracy because I think my program is working (using Iterative closest point and detecting features such as SURF) but I don't get good results because the RGB camera transformation is not good enough to get "perfect point clouds" (I mean that i can see parts of objects at places where they shouldn't be, like seeing the edge of a box in the wall) This is the problem that make my results bad.

I have performed several calibration with the camera_calibration package in Ros fuerte to solve the problem but i get very different results and the calibration is done in the same way from each calibration. Some results:

[532.486920156757, 0, 313.943582352682, 0, 532.067717610884, 259.017556441565, 0, 0, 1]

[512.878303, 0 , 310.799036, 0, 513.067828 256.711335, 0, 0, 1]

In my opinion this results makes me think that i am doing something wrong in the calibration process but i follow exactly the tutorial http://www.ros.org/wiki/openni_launch/Tutorials/IntrinsicCalibration?action=show&redirect=openni_camera%2Fcalibration so i don't know what i am doing wrong.

Besides, there is some problems with the openni_launch as you can see at this post: http://answers.ros.org/question/53706/registered-depth-image-is-black/ I solved the problem but now i am wondering if the variable depth_regitration should be on or off.

Does anyone know what this hapens to me? could you give me any advice?

Thanks you very much! Antonio.


Originally posted by anto1389 on ROS Answers with karma: 106 on 2013-03-06

Post score: 0

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1 Answer 1

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You can use the cameracheck.py utility to assess the quality of your calibration. Unfortunately, that utility isn't documented very well.


Originally posted by Dan Lazewatsky with karma: 9115 on 2013-03-06

This answer was ACCEPTED on the original site

Post score: 2

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