0
$\begingroup$

Rosanswers logo

Hello, we want to use several 3D cameras (including a couple of Xtions and a couple of Kinects etc.) to capture a whole room. The cameras are rigidly attached to a frame around the outside of the room, all facing inwards toward the center. We input some approximate relative camera poses already but the poses need to be properly aligned/calibrated (hopefully using a single fixed double-sided checkerboard in the center which they can all see at the same time).

The question is: what's the best package to calibrate the camera poses?

Is it possible to use the robot_calibration package. it seems to be more designed to calibrate using a moving arm and therefore expects to calibrate a using a series of poses from a bag, but since our "robot" doesn't move perhaps its possible to just not give it a bag, or to give it a bag with one pose and zero joints?

Perhaps some other package exists... I read the readme for camera_pose_calibration but found it quite confusing

Thanks in advance!


Originally posted by Benjamint on ROS Answers with karma: 1 on 2017-02-07

Post score: 0

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

See if ethz-asl/kalibr and / or industrial_extrinsic_cal suit your needs.


Originally posted by gvdhoorn with karma: 86574 on 2017-02-07

This answer was ACCEPTED on the original site

Post score: 0


Original comments

Comment by Benjamint on 2017-02-08:
thanks, tomorrow ill let you know if it works. any idea whether robot_calibration with one pose and no joints would work? that's the preferred solution if its possible

Comment by gvdhoorn on 2017-02-08:
I can't comment on whether robot_calibration can do this. Perhaps you could ask on the issue tracker.

Comment by Benjamint on 2017-02-10:
unfortunately industrial_extrinsic_cal is out, it had heaps of problems and when it eventually worked it didn't do a great job. where is the issue tracker?

Comment by gvdhoorn on 2017-02-10:
The repository link is listed on the wiki page. That also hosts the tracker: industrial_calibration/issues.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.