camera-calibration

Installation

1. Clone the following repository:

git clone https://github.com/iamlab-cmu/perception.git
cd perception

2. Run the following in a virtual environment:

pip install -e .

3. Clone this repository:

git clone [email protected]:iamlab-cmu/camera-calibration.git
cd camera-calibration

4. 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

2. Open the calib/azure_kinect.intr file.
3. Rostopic echo /rgb/camera_info once.
4. Copy the first number in K: to after "_fx"
5. Copy the third number in K: to after "_cx"
6. Copy the fifth number in K: to after "_fy"
7. Copy the sixth number in K: to after "_cy"
8. If you are using the large checkerboard for an overhead camera, just run:

python scripts/register_camera.py

9. 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.
10. Then start franka-interface and use the following command:

python scripts/register_camera_using_franka.py

11. 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.
12. 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