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Intrinsic calibration is not really required in gazebo since we do not inject any distortion to the image. You can see how the projection matrix is setup in GazeboRosCamera::PublishCameraInfo().

Extrinsic calibration is also not necessary as you should be able to access the exact pose of the camera sensor in simulation through either the ROS API or using tf.

But if you really wanted to run through the calibration procedure, you'll have to create a checkerboard in simulation and run through camera calibration, or you can see how the pr2 cameras are calibrated here.

Please let me know if any of the above is unclear.