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aligning multiple 3D cameras

asked 2017-02-07 03:26:34 -0500

Benjamint gravatar image

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!

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answered 2017-02-07 04:04:55 -0500

gvdhoorn gravatar image

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

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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

Benjamint gravatar image Benjamint  ( 2017-02-08 06:30:54 -0500 )edit

I can't comment on whether robot_calibration can do this. Perhaps you could ask on the issue tracker.

gvdhoorn gravatar image gvdhoorn  ( 2017-02-08 06:48:30 -0500 )edit

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?

Benjamint gravatar image Benjamint  ( 2017-02-10 07:33:44 -0500 )edit

The repository link is listed on the wiki page. That also hosts the tracker: industrial_calibration/issues.

gvdhoorn gravatar image gvdhoorn  ( 2017-02-10 07:52:05 -0500 )edit

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Asked: 2017-02-07 03:26:34 -0500

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Last updated: Feb 07 '17