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.

atleaa / wp3_calibrator