Calibrating Realsense RGB Camera ROS Melodic

• Adjust Realsense camera resolution:

roscd realsense2_camera
nano rs_camera.launch

• 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 1920×1080 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