8000 How do you calibrate stereo camera on Nextage Open? · Issue #390 · tork-a/rtmros_nextage · GitHub
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How do you calibrate ster 8000 eo camera on Nextage Open? #390

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Michi-Tsubaki opened this issue May 1, 2025 · 1 comment
Open

How do you calibrate stereo camera on Nextage Open? #390

Michi-Tsubaki opened this issue May 1, 2025 · 1 comment

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@Michi-Tsubaki
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We followed https://wiki.ros.org/rtmros_nextage/Tutorials/Setup%20stereo%20camera and tried to calibrate it, but it did not work. We used size: 6x5 square: 0.030 checkerboard.

The published point cloud is like attached picture. We cannot distinguish any objects from the point cloud.

Image

So, we want to know the way or tips for correctly calibrating the camera on Nextage Open.
@k-okada
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k-okada commented May 9, 2025
  1. Which camera do you use?
  2. As for calibration, there are two types. A) I want to use two cameras to stereo view and get distance information. We call this as stereo calibration. B) Since distance information in (A) is the distnace relative from the camera , so we want to get distance relative to the robot's base (OR hand) link, which is called hand-eye calibration.

In the case of 2-A, x) Relative coordinates between the two cameras → y) Rectification process so that the images obtained by the two cameras become parallel → z) Stereo calculation.　You can check if the value of (y) is correct by looking at image_rect_color, etc.

https://wiki.ros.org/image_proc

In general, it is better to use a large calibration board and we have a large one included with PR2.

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@k-okada @Michi-Tsubaki
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