Camera vs world calibration

asked 2012-07-25 03:50:27 -0500

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Hi all! I'm successfully using a "home made" stereo head to obtain a disparity image with the package stereo_image_proc.

Now I'm trying to calculate the position of the camera in the world frame, possibly using a checkerboard where the first cross represents the world origin. I've tried to use the camera_pose_calibration package without success.

Do you know others methods that you can suggest me?

I'm particulary interested in online methods where the camera automatically calibrates itself by looking at the checkerboard.

Many thanks!

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answered 2012-07-25 04:08:00 -0500

phil0stine
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If you have the intrinsics of just one camera, you should be able to use FindExtrinsicCameraParams, which will give the rotation and translation between the checkerboard frame and the camera frame

Check out opencv docs for more info

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Thanks for your answer! I'm looking at the openCV documentation right now. Would have been better if there was a package of ROS already implemented! :-)

oleo80 ( 2012-07-25 06:05:28 -0500 )edit

In a way there is a package for that, its really what camera_pose_calibration is intended to do. If it isn't working for you, maybe a quick opencv python script (subscribe to image and cam info, get the extrinsics, publish to /tf) will be the fastest way to make progress.

phil0stine ( 2012-07-25 09:37:11 -0500 )edit

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I've found another great package! http://www.ros.org/wiki/ar_pose It works perfectly with special markers.

oleo80 ( 2012-07-26 06:02:04 -0500 )edit

Do you think this package could be used to calibrate multiple Kinects?

Athoesen ( 2014-01-09 07:47:24 -0500 )edit

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answered 2012-07-25 05:38:41 -0500

Dan Lazewatsky
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There's a stereo calibration tutorial which should cover everything you need, no code required.

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I've followed this tutorial for the intrinsic camera calibration. That package isn't able to tell me the position (transl+rot) of the camera in respect of the world.

oleo80 ( 2012-07-25 06:00:49 -0500 )edit

In that case, camera_pose_calibration is a good choice. Could you edit your original question to explain exactly how it didn't work?

Dan Lazewatsky ( 2012-07-25 06:11:13 -0500 )edit

I've asked another question about camera_pose_calibration: http://answers.ros.org/question/35898/camera-pose-calibration-problem-with I've solved some problems today and now the problem is that it doesn't publish to tf. I'll explain better in the other question.

oleo80 ( 2012-07-25 06:32:50 -0500 )edit

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