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robot camera calibration


Is there any ROS package to calibration extrinsic parameters of a camera with respect to its mounting frame? I looked at camera_pose_calibration and camera_pose_toolkit, it seems to me that both packages do it through a second camera whose pose with respect its mounting frame or a robot (referred to as URDF cam frame) has been calibrated (i.e. a URDF cam frame is available). My question is that how to do it without any known URDF cam frame.

Thanks in advance.