Xtion Calibration Procedure¶
- Open Terminal window and start robot
$ roslaunch clopema_launch start_robot.launch
- In next terminal start xtion1
$ roslaunch clopema_perception_launch xtion2.launch
- Check whether xtion sends images in rviz window
- In next terminal start calibration node
$ rosrun clopema_calibration xtion_calibration_sm_2.py -t \calib_target_2 -x 2 --target-type 30x30
Calibration node help¶
$ rosrun clopema_calibration xtion_calibration_sm_2.py -h
Xtion calibration state machine. This state machine controls the process of
calibration. It executes both capturing of calibration images and offline
During the process you may be requested to obscure the IR projector and power on
the light, in order to capture IR images without the dot pattern.
xtion_calibration_sm_2.py -h | --help
-t FRAME, --target FRAME Coordinate frame id of calibration the target
-p PATH, --path PATH Output path
-x XTION, --xtion XTION Xtion (robot) number [default: 1].
--rgb-only Capture only RGB images, joint states and
transformations and perform RGB camera
calibration and eye calibration.
--ir-only Same as '--rgb-only' but capture only IR images.
--capture-only Just capture and do not perform calibration.
--calib-only Just run calibration.
--target-type TTYPE Type of the target either 21x15 or 30x30.
-h, --help Show this message.
Each option has its ROS counterpart starting with underscore '_' which can be
configured also through launch-file. Classical command line parameters has
precedence over ROS parameters.
Libor Wagner on April 18, 2013