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--- tutorials:calibrating_realsense_rgb_camera_ros_melodic [2019/09/13 21:01] – created admin
+++ tutorials:calibrating_realsense_rgb_camera_ros_melodic [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 6: / Line 6: @@
   nano rs_camera.launch
-  * Edit rs_camera.launch file.
+  * Edit rs_camera.launch file. Change to the following resolutions:
   <arg name="depth_width"         default="1280"/>
   <arg name="depth_height"        default="720"/>
   <arg name="enable_depth"        default="true"/>
   <arg name="infra_width"        default="1280"/>
   <arg name="infra_height"       default="720"/>
   <arg name="enable_infra1"       default="true"/>
   <arg name="enable_infra2"       default="true"/>
   <arg name="color_width"         default="1920"/>
   <arg name="color_height"        default="1080"/>
   <arg name="enable_color"        default="true"/>
+  * Check new configuration:
+  roslaunch realsense2_camera rs_camera.launch
+  rosrun image_view image_view image:=/camera/color/image_raw
+  rostopic echo /camera/color/camera_info
+  * Check that camera_info is informing of a 1920x1080 resolution
+  * Execute calibration program (adjust size and square according to your printed board):
+  rosrun camera_calibration cameracalibrator.py --no-service-check --size 8x6 --square 0.2463 image:=/camera/color/image_raw
+  * Move calibration board according to : [[http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration]], press "Calibrate" button and then "save" button.
+  * Calibration data is stored in: /tmp/calibrationdata.tar.gz
+  *