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Calibration of Realsense R200 camera

asked 2016-10-24 03:12:10 -0500

timku gravatar image

Hi all, I would like to ask is it possible to calibrate the infrared (IR) camera for the realsense r200 camera as I am using the camera to detect obstacle through the use of disparity map.

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The driver already gives you a depth image, wouldn't it be better just to convert the pointcloud to a disparity image?

AlexandreB gravatar image AlexandreB  ( 2016-10-24 14:32:47 -0500 )edit

3 Answers

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answered 2016-10-24 10:40:02 -0500

The camera is factory calibrated and for many purposes this calibration should be good enough. If you really want to, you could calibrate both IR cams as described in StereoCalibration, however.

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answered 2017-11-23 07:15:01 -0500

cahilx gravatar image

It's now one year later...

Have you found a solution? :)

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answered 2016-10-31 03:09:44 -0500

timku gravatar image


I faced the following problem when trying to run the StereoCalibration. It seems the calibration only accept color images.

kuxz@kuxz-UX32LN:~$ rosrun camera_calibration --size 9x6 --square 0.108 image:=/camera/ir2/image_raw camera:=/camera/ir2 --no-service-check
Exception in thread Thread-5:
Traceback (most recent call last):
  File "/usr/lib/python2.7/", line 801, in __bootstrap_inner
  File "/opt/ros/kinetic/lib/camera_calibration/", line 93, in run
  File "/opt/ros/kinetic/lib/camera_calibration/", line 167, in handle_monocular
    drawable = self.c.handle_msg(msg)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/camera_calibration/", line 719, in handle_msg
    gray = self.mkgray(msg)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/camera_calibration/", line 256, in mkgray
    return, "mono8")
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/cv_bridge/", line 184, in imgmsg_to_cv2
    raise CvBridgeError(e)
CvBridgeError: [8UC1] is not a color format. but [mono8] is. The conversion does not make sense

init done
^CQObject::~QObject: Timers cannot be stopped from another thread

Is there any parameters that I can edit to enable the calibration of the IR camera?

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Asked: 2016-10-24 03:12:10 -0500

Seen: 1,050 times

Last updated: Nov 23 '17