A set of tools for performing calibration between cameras and robots and analyzing the accuracy of the calibration.
See the calibration primer for more information on the tools in this repository
- Core
- Contains definitions for common data types (e.g., features, correspondences, observations, camera intrinsics, etc.) and interface classes.
- Optimizations
- Contains type definitions, cost functions, and optimization algorithms for various calibration optimizations
- Analysis
- Contains functions for analyzing the accuracy of sensors and various types of calibrations
- Target Finders
- Contains implementations of the interface for finding calibration targets from sensor measurements (e.g., 2D images)
- GUI
- Contains Qt-based GUI widgets for performing various types of calibrations
- Examples
- Contains examples with real data for various types of calibrations, including analysis of the results
cd <workspace>
vcs import src < src/industrial_calibration/dependencies.repos
rosdep install --from-paths src -iry
colcon build