kinect's rgb camera with camera_calibration

asked 2011-03-23 23:16:55 -0500

polmonso
21 ●1 ●1 ●3

updated 2016-10-24 09:01:47 -0500

ngrennan
1 ●1 ●1

Hello everyone,

The calibration tutorial applied to the kinect rgb camera searches for a service that isn't published by the openni driver. This results in

rosrun camera_calibration cameracalibrator.py --size 8x5 --square 0.02994444 image:=/camera/rgb/image_color camera:=/camera

Waiting for service /camera/set_camera_info ...

Service not found

Hasn't anybody used the camera_calibration package to obtain the intrinsic parameters of the kinect camera? I'd need them for the handeye calibration.

cheers

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answered 2011-03-25 22:35:53 -0500

rreid
124 ●2 ●6 http://rrfx.net/

The intrinsic calibration for the Kinect is already available in the Openni driver. This answer describes where to find it.

You'll want to use the 'camera/rgb/camera_info' topic, which gives a sensor_msgs/CameraInfo message.

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answered 2011-10-19 23:26:25 -0500

David Fischinger
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Use: rosrun camera_calibration cameracalibrator.py --size 8x5 --square 0.02994444 image:=/camera/rgb/image_color camera_info:=/camera ("camera_info:=" instead of "camera:/")

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answered 2011-10-19 22:02:55 -0500

sebsch
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The openni driver does not implement set_camera_info, so you have to tell cameracalibrator.py that it should not rely on it. Just add --no-service-check when running it.

Also, you can check here for more information on calibrating the kinect.

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