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camera-calibration

Installation

  1. Clone the following repository:
git clone https://github.com/iamlab-cmu/perception.git
cd perception
  1. Run the following in a virtual environment:
pip install -e .
  1. Clone this repository:
git clone [email protected]:iamlab-cmu/camera-calibration.git
cd camera-calibration
  1. Run the following in a virtual environment:
pip install -e .

Running Instructions

  1. Start the Azure Kinect Camera
roslaunch azure_kinect_ros_driver driver.launch
  1. Open the calib/azure_kinect.intr file.
  2. Rostopic echo /rgb/camera_info once.
  3. Copy the first number in K: to after "_fx"
  4. Copy the third number in K: to after "_cx"
  5. Copy the fifth number in K: to after "_fy"
  6. Copy the sixth number in K: to after "_cy"
  7. If you are using the large checkerboard for an overhead camera, just run:
python scripts/register_camera.py
  1. If you are using a checkerboard on the hand, first move the robot into a position so that the checkerboard can be seen from the camera at a distance of around 2 feet away.
  2. Then start franka-interface and use the following command:
python scripts/register_camera_using_franka.py
  1. Afterwards, check to make sure the calib/azure_kinect_overhead/azure_kinect_overhead_to_world.tf file is similar to calib/example_azure_kinect_overhead_to_world.tf.
  2. If the transformations are similar, then test the calibration using a flat surface and an alphabet block and run the following command:
python scripts/run_pick_up_using_camera.py

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