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Calibration RGBD camera

asked 2022-02-07 09:57:30 -0500

RB_Code gravatar image

I am trying to calibrate my realsense RGBD camera but the service is not available, for example: "set_camera_info" Service. I have many more services and topics.

I wonder if you could give me some help. Thanks in advance

Topics:

/camera/aligned_depth_to_color/camera_info
/camera/aligned_depth_to_color/image_raw
/camera/aligned_depth_to_color/image_raw/compressed
/camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/compressed/parameter_updates
/camera/aligned_depth_to_color/image_raw/compressedDepth
/camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/camera/aligned_depth_to_color/image_raw/theora
/camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/theora/parameter_updates
/camera/aligned_depth_to_infra1/camera_info
/camera/aligned_depth_to_infra1/image_raw
/camera/aligned_depth_to_infra1/image_raw/compressed
/camera/aligned_depth_to_infra1/image_raw/compressed/parameter_descriptions
/camera/aligned_depth_to_infra1/image_raw/compressed/parameter_updates
/camera/aligned_depth_to_infra1/image_raw/compressedDepth
/camera/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_descriptions
/camera/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_updates
/camera/aligned_depth_to_infra1/image_raw/theora
/camera/aligned_depth_to_infra1/image_raw/theora/parameter_descriptions
/camera/aligned_depth_to_infra1/image_raw/theora/parameter_updates
/camera/aligned_depth_to_infra2/camera_info
/camera/aligned_depth_to_infra2/image_raw
/camera/aligned_depth_to_infra2/image_raw/compressed
/camera/aligned_depth_to_infra2/image_raw/compressed/parameter_descriptions
/camera/aligned_depth_to_infra2/image_raw/compressed/parameter_updates
/camera/aligned_depth_to_infra2/image_raw/compressedDepth
/camera/aligned_depth_to_infra2/image_raw/compressedDepth/parameter_descriptions
/camera/aligned_depth_to_infra2/image_raw/compressedDepth/parameter_updates
/camera/aligned_depth_to_infra2/image_raw/theora
/camera/aligned_depth_to_infra2/image_raw/theora/parameter_descriptions
/camera/aligned_depth_to_infra2/image_raw/theora/parameter_updates
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/color/image_rect_color
/camera/color/image_rect_color/compressed
/camera/color/image_rect_color/compressed/parameter_descriptions
/camera/color/image_rect_color/compressed/parameter_updates
/camera/color/image_rect_color/compressedDepth
/camera/color/image_rect_color/compressedDepth/parameter_descriptions
/camera/color/image_rect_color/compressedDepth/parameter_updates
/camera/color/image_rect_color/theora
/camera/color/image_rect_color/theora/parameter_descriptions
/camera/color/image_rect_color/theora/parameter_updates
/camera/color_rectify_color/parameter_descriptions
/camera/color_rectify_color/parameter_updates
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/realsense_ros_camera_manager/bond
/camera/realsense_ros_camera_manager/parameter_descriptions
/camera/realsense_ros_camera_manager/parameter_updates

Services:

/camera/aligned_depth_to_color/image_raw/compressed/set_parameters
/camera/aligned_depth_to_color/image_raw/compressedDepth/set_parameters
/camera/aligned_depth_to_color/image_raw/theora/set_parameters
/camera/aligned_depth_to_infra1/image_raw/compressed/set_parameters
/camera/aligned_depth_to_infra1/image_raw/compressedDepth/set_parameters
/camera/aligned_depth_to_infra1/image_raw/theora/set_parameters
/camera/aligned_depth_to_infra2/image_raw/compressed/set_parameters
/camera/aligned_depth_to_infra2/image_raw/compressedDepth/set_parameters
/camera/aligned_depth_to_infra2/image_raw/theora/set_parameters
/camera/color/image_raw/compressed/set_parameters
/camera/color ...
(more)
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1 Answer

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answered 2022-02-07 13:24:24 -0500

clyde gravatar image

The RealSense driver doesn't support the set_camera_info service, so you should run cameracalibrator.py with the --no-service-check option.

See: http://wiki.ros.org/camera_calibration

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Comments

How do I store the calibration parameters?

For example in my script I read the parameters from the topic : /camera/color/camera_info

RB_Code gravatar image RB_Code  ( 2022-02-07 13:36:31 -0500 )edit

To store: hit the "Save" button, and then find the data in /tmp/calibrationdata.tar.gz. You can add the file(s) to your project somewhere, perhaps under a config directory.

Then, you'll need to tell the RealSense driver where to find the file at launch time, and it should load it and publish it on the various camera_info topics. I don't have time right now to verify exactly how this works for the RealSense driver; I'll try to take a look later today.

clyde gravatar image clyde  ( 2022-02-07 14:47:18 -0500 )edit

Thank you very much for your help. I will also try to see how to update the topic.

RB_Code gravatar image RB_Code  ( 2022-02-10 09:33:23 -0500 )edit

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Asked: 2022-02-07 09:57:30 -0500

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Last updated: Feb 07