calibrate_chest¶
The new way to use this package is through the calibration_server
action server. To use it, run
rosrun calibrate_chest calibration_server
and, in another terminal,
rosrun actionlib axclient.py /calibrate_chest
. To compute a new
transformation between the camera and the floor, enter command
calibrate
. If you want to publish an already saved calibration (the
calibration is saved in mongodb between runs), enter command
publish
. When you run the calibrate command, it will check that you
are closer than 3 degrees from the desired 46 degrees angle of the chest
camera. Otherwise, no calibration will be stored.
calibrate_chest node (legacy)¶
- Do
rosrun calibrate_chest calibrate_chest
with the datacentre running if you want to store the parameters there, make sure that the largest visible plane for the chest camera is the floor. Also, notice that you have to have the chest camera running and publishing on topicchest_xtion
. - To use these parameters when you launch the bringup next time, be sure to have the datacentre running.
- The urdf can be updated manually by doing
rosrun calibrate_chest chest_calibration_publisher
if you don’t want to restart the larger system (e.g.strands_movebase.launch
, which includes this).
Example¶
When running rosrun calibrate_chest calibrate_chest
the node tries
to find the largest visible plane and determine the angle and height of
the chest camera. It will display a window of the current point cloud,
with the points belonging to the floor coloured in red. It should look
something like the following, you might need a mouse to rotate:
Close the window to save the calibration.
Original page: https://github.com/strands-project/strands_movebase/blob/indigo-devel/calibrate_chest/README.md