wp3_calibrator

ROS package for automatic extrinsic pose calibration of multiple RGB-D sensor nodes. As described in the referenced paper, the use of large retroreflective markers is recommended for large volumes.

Keywords: ROS, RGB-D, calibration

License

The source code is released under a BSD 3-Clause license.

Author: Atle Aalerud
Affiliation: SFI Offshore Mechatronics, University of Agder
Maintainer: Atle Aalerud, atle.aalerud@uia.no

The wp3_calibrator package has been tested under ROS Indigo and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Publications

If you use this work in an academic context, please cite the following publication(s):

• A. Aalerud, J. Dybedal, and G. Hovland, Automatic Calibration of an Industrial RGB-D Camera Network using Retroreflective Fiducial Markers. Submitted. to Sensors, 2018. (In review)

    @article{Aalerud2018c,
        author = {Aalerud, Atle and Dybedal, Joacim and Hovland, Geir},
        journal = {submitted to Sensors},
        title = {{Automatic Calibration of an Industrial RGB-D Camera Network using Retroreflective Fiducial Markers}},
        year = {2018}
    }
  

• A. Aalerud, J. Dybedal, E. Ujkani, and G. Hovland, Industrial Environment Mapping Using Distributed Static 3D Sensor Nodes, in 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2018. (PDF)

    @inproceedings{Aalerud2018a,
        author = {Aalerud, Atle and Dybedal, Joacim and Ujkani, Erind and Hovland, Geir},
        booktitle = {2018 14th IEEE/ASME Int. Conf. Mechatron. Embed. Syst. Appl.},
        month = {jul},
        publisher = {IEEE},
        title = {{Industrial Environment Mapping Using Distributed Static 3D Sensor Nodes}},
        year = {2018}
    }
  

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• Eigen (linear algebra library)

  sudo apt-get install libeigen3-dev

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/atleaa/wp3_calibrator.git
cd ../
catkin_make

Usage

To run the calibration on logged data from the Industrial Robotics Lab at UiA:

• Download the ROS bag from dataverse,
• Decompress

  rosbag decompress *.bag

• Edit path to the ROS bag in calibrate.launch
• Run calibration using:

  roslaunch wp3_calibrator calibrate.launch

The final calibration of the journal paper may be applied directly by using:

rosparam set use_sim_time true
rosbag play --clock -l rosbagname.bag
roslaunch wp3_calibrator tf_resultC.launch

To calibrate your own sensors you need to edit or copy calibrate.launch with following updates:

• Disable playback of rosbag.
• Set num_sensors to number of sensors to calibrate
• Update list of topics according to your sensors

Config files

• include/wp3_calibrator/defines.h Program configurations (reguires recompile)
  • Dimensions of aruco markers
  • Padding size around aruco markers
  • Calibration parameters

Launch files

• calibrate.launch: Sets parameters and starts calibration
• tf_resultC.launch Launch static transform publishers for final calibration results from journal.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.