Questions tagged [calibration]
Correlate the readings of a robot's instrument, sensor, etc. with those of a standard in order to check its accuracy. Adjust experimental results to take external factors into account or to allow comparison with other data.
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Cannot solve extrinsic matrix between camera and robot
I am triying to calibrate a RGB-D Realsense camera , with an eye in hand configuration. I have the following set-up:
I know the transformation matrix between base/ef and cam/obj. I want to solve ...
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Calculate extrinsic matrix in an eye in hand configuration
I have a RGB-D camera mounted in the end effector frame of a robotic arm. I know the intrinsic matrix, but I am a little bot confused in how to calculate extrinsic matrix. Is there any packages to do ...
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validateURL failing even when a proper file is present
Dear Experts,
I have been trying to use CameraInfoManager::validateURL function with the following code snippet
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shouvik1984
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Do rviz DepthCloud or Camera displays properly make use of non-zero CameraInfo P Tx/Ty values?
Probably a quick scan through the source code can solve this to see if those entries in the P array are even looked at, I'll get to it later if no-one else comes through quicker with an answer. If it ...
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The Benefit of Hand-Eye calibration with 2D camera
I have a general question about the benefit of Hand-Eye calibration.
I know that the Hand-Eye calibration can be done with many softawres by solving the AX=XB or AX=ZB equation. But my question is, ...
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Why do we need to know the translation between Camera and IMU?
In Visual Inertial Odometry, assuming the camera and the IMU are attached to the same rigid body, why isn't it enough to know just the relative rotation between the camera and the IMU? Why do we need ...
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Synchronize GPS orientation with cameras
I'm interested in using GPS system to generate ground truth for evaluation of some SLAM systems I am testing.
I'm confused on how I can initialize the location and orientation of the GPS unit to be ...
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How to test moveit handeye calibration?
I have a KUKA iiwa 14 and a realsense D435i camera. I calibrated the system using a hand-to-eye configuration in Moveit! Hand-eye calibration package. But I would now like to test the accuracy of the ...
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Camera Calibration Matrix accuracy
When we do camera calibration, we have to find calibration matrix $M$, which is found by first finding extrinsic matrix and then intrinsic matrix. To validate the accuracy of calibration matrix, we ...
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How to get transform between two fixed frames using a camera
In my task, I have two manipulators: one 6 dof robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 ...
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IMU Senosr fusion algorithm of gyro and accelerometer during acceleration of vehicle
Hello so we have a car with 10 IMUs mounted at different locations of the car and the idea is the measure the centripetal force at each location of the car and compare it to each other. We also need ...
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Why would we solve AX=XB instead of just using the Kabsch algorithm?
I have a high precision stereo camera and a robot which are independent units (the camera is not mounted to the robot). I wish to compute a transformation from the camera frame to the robot base frame....
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Checking camera calibration
I have calibrated a camera and want to check how good the calibration is. I have used the camera_calibration package to calibrate the camera, and the camera_info now looks like this:
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Roshan
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Find a mistake in transformation between different coordinate frames in the WIP-calibration pipeline
I design the extrinsics calibration pipeline for the robotic agents, carrying onboard two sensors of different modalities. I aim to calibrate one of them (S) ...
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why the left 3x3 portion of Projection matrix(P) is different from the Intrinsic camera matrix(K)?
Intrinsic camera matrix for the raw
(distorted) images.
[fx 0 cx]
K = [ 0 fy cy]
[ 0 0 1]
Projects 3D points in the camera coordinate frame to 2D
pixel coordinates using the focal
lengths (fx, fy) ...
koughua
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Do electromagnets affect magnetometer calibration?
I am designing a landing pad for a drone that will have electromagnets built into the pad. My drone has a pixhawk 2 with PX4. I'm worried that the electromagnets in the pad will throw off the drone's ...
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How to calibrate a magnetometer on a heavy robot
I am wondering how to calibrate a magnetometer on an IMU that is installed on a heavy robot. Normally, hard and soft iron calibration is done by spinning the IMU in all axis, but since it is installed ...
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How to publish more than 5 distortion parameters through sensor_msgs::CameraInfo structure?
Hi guys. I have a node which publishes images to /image_raw topic and camera calibration data to /camera_info topic. It is setting lens distortion coefficients using the "d" vector of ...
shankk
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Focus calibration to infinity
Well, it sounds easy problem but can we do it without pointing the camera to a faraway place?
How does the manufacturer do this during mass production? Is there any focusing machine?
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How to calibrate a lens with wide fov and low F number
To calibrate a wide fov lens either a calibration board should be large or bring the calibration board closer to the lens. As making a large calibration board is expensive, I usually prefer the second ...
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ROS Camera Calibration for Webcam - Not working
As a part of learning, I am trying to perform Camera calibration with my laptop's Webcam. I am really new to this process. I will explain everything about how far I have come so far, and where I have ...
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Unstable principal point estimation in zoom camera calibration
I have a camera with a 1/2.9" image sensor from FLIR and a 12-50mm motorized zoom lens from Theia. Because the lens is a motorized zoom lens, I tried to calibrate the camera for different zoom ...
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Eye-to-hand camera calibration, location of the calibration board
Using the Moveit camera calibration plugin for the eye-to-hand calibration, what is the required position for the calibration board?
I understand that the board needs to be rigidly mounted on the arm ...
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How to calculate extrinsic calibration of a non-overlapping multicamera rig?
thanks for taking the time to check my question. Firstly, let me describe the current configuration, I am using 4 cameras that produce non-overlapping images and the goal is to calculate their ...
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extrinsic calibration of non-overlapping cameras
Hello everyone,
does anybody have any idea how to calculate the relative transformation between the cameras of a multi camera rig with no overlap?
Thanks in advance.
Originally posted by Ifx13 on ROS ...
Ifx13
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Closed-form solution of extrinsic in 2D to 3D projection problem
The title is pretty much it.
Anyone have seen a closed-form solution of extrinsic on 2D to 3D projection problem?
Seems like this should exist in old camera calibration literature but I can't really ...
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Depth camera pixel values to 3D coordinates
I have a robotic arm 6-DOF and an Intel RealSense depth camera. I want to go from pixel values to 3D world coordinates, is it possible with eye-in-hand calibration? If yes can you guide me on how to ...
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Trouble aligning/calibrating camera with laser scanner
I have a robot which has 2 multi-spectral cameras and 1 laser scanner attached. In the end I would like to have the images from the cameras aligned with the scanner so that I can have spectral ...
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How to fix camera_calibration giving error on save in Noetic
I am running camera_calibration in Noetic:
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.026 image:=/camera/image_raw camera:=/raspicam_node
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Morris
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Hand-Eye Calibration without Robot Arm Calibration
I'm trying to do Hand-Eye Robot-Camera calibration.
And I'm using MZ12(NACHI robot) and D435(Intel camera).
But accuracy of the calibration result is so low. Average error of translation moving is ...
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Autoware camera-lidar-calibration Error
I trying camera-lidar calibration.
Method is below.
https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/sensing/autoware_camera_lidar_calibrator.html
But Error ...
ken_koba
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Understanding types of hand eye calibration
I have been reading about hand eye calibration for a couple days. Basically, I have 2 setups I want to execute hand eye calibration.
Camera is fixed in a position and arm is moving (eye on base);
...
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how to calibrate gyroscope using raw gyro data?
I wrote a simple code for where I take 500 samples with stationary gyro and subtract those offset values to get calibrated gyro data.
Question:
Is this much calibration enough to implement this gyro ...
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How do I calibrate a rotating laser scanner pose from known global coordinates?
Assume the following scenario:
A 2D LIDAR sensor is mounted with a vertical (not exactly known) scan plane at a height of 20m
The scanner can be rotated about the vertical axis and the encoder values ...
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Robotic vision eye-in-hand research
I started researching Robotic Vision topics for a while but I found myself a bit stuck.
My background is in the Computer Vision and Machine Learning fields but I lack the knowledge in robotics.
My ...
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How to change the camera model when using image_pipeline?
Hi, I do some binocular camera calibration tests with image_pipeline. For some reasons, I can not see the video in the image_pipeline/Tutorials page. I have to ask questions there.
1, How can I cange ...
YancenBOB
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How to get transformation between a camera and a CNC plotter?
I have a question about robot and camera calibration.
I have experience to calibrate btw 6DOF robot arm and hand-eye camera.
But this time I should use a machine like CNC plotter. This machine can ...
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What is the baseline of a RGBD camera?
I'm looking at some ORB SLAM2 settings where there's a parameter for "IR projector baseline times fx". Could someone here explain what exactly is the baseline of an IR projector? Is it the distance ...
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solving for unknown 2d rotation + translation
This is a continuation of the question I asked here. I thought I'll ask a more concrete question. So far, this is what I have done to transform from a feature point detected by camera sensor in to a ...
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Option --square for camera calibration with circle/acircle pattern
Hello,
I have a question regarding the camera_calibration package. In the documentation (http://wiki.ros.org/camera_calibration) it is mentioned that it is possible to use a circular / asymmetric ...
astero
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Robot Hand to Eye calibration without joint encoder
I have two degrees of freedom robot with a camera mounted on the tool center point where the system is modeled as
$^wT_c = {^wT_z}(\theta_1){^zT_m}(\theta_2) {^mT_c}(\textbf{r})$, $\textbf{r} \in ...
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calibrating large scale manipulator
I'm facing the problem of model calibration for a large-scale manipulator (e.g. example image) with a half-spherical workspace of around 40m diameter.
The typical approach would be computer vision, ...
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Is it possible to calculate a homography matrix for any 2 views?
I've been experimenting with opencv to estimate the homography matrix between 2 images captured with my computer's webcam. I have noticed that when the 2 views are not very far apart (that's when I ...
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rgbd_calibration YAML Parsing Exception: Bad Conversion Error
This work is a recurrence of Basso's work: https://github.com/iaslab-unipd/rgbd_calibration, but I have encountered the following problems:
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Henryliu
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Hand-Eye calibration of a 2D barcode scanner and a robot
I have a Keyence barcode scanner that can give me the coordinates of a detected barcode in pixels. I have a 6 DOF robot whose end effector pose I know at any given time. My ultimate goal is to place a ...
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RGBD Camera Eye in Hand Calibration
Hello I am new to robotics. So far I have a basic understanding of the camera calibration. One would need rotation and transformation matrices to convert a point from camera coordinate system to robot/...
user22736
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vision guided robotic arm always required 6d pose of object? [closed]
I have an object like attached in image.
It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object.
I am ...
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Extrinsic calibration of a multicamera-rig mounted rigidly on a mobile robot
We have a set of 8 cameras mounted rigidly on a mobile robot. The cameras are forming an arc, which allows a 360º vision.
I want the extrinsic parameters of them referred to the robot. Is there any ...
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Obtaining Camera Pose via TF
I have the calibration board fixed on the work station, and I have its world coordinates, entered them in URDF, all good. I used OpenCV's pose estimation module to find the board's pose (rvecs and ...
Jägermeister
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robot Hand Eye Calibration problem
I am trying to understand the implementations and the relative performance of various classical and new Hand-eye calibration approaches.
Note: The following discussion assumes implementations are in ...
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