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Camera Arm Calibration Process

WARNING! This tutorial assumes that you have an advanced knowledge of: git, linux, ROS1, YARP, Python, KUKA arm, FRI, Robot Kinematics

This tutorial was created by Daniel García Vaglio. If you have any questions about this tutorial or about the calibration process ask him.

Set Up process

You need to install ROS1 and YARP.
Clone repository oms-cylinder and follow the README for installation instructions
Install the Humanoid Robot Simulator
Clone the keyboard-cart-control repository in ~/local/src
Install and setup FRI
Attach the calibration board to the robot.

How calibration works

TODO: Add an explanation of the process and why we do things the way we do them

Generating Calibration poses

Set up the system

Turn on the KUKA arm and set it up with FRI for being used from a Linux Computer.
Execute a YARP server
Continue until the bridge and vfclik are running and talking to the robot using FRI.
Go to ~/local/src/keyboard_cart_control, and execute the following command:

python keyboard_cart_control.py -n /arcosbot-real

Execute the realsense viewer with the following command:

realsense-viewer

Generate the poses

Move the arm so that the calibration board is inside the field of view of the camera.
Press i to store this first pose.
press y to activate automatic pose storage.
Move the arm in such a way that the calibration board is always visible to the camera. Be careful not to reach singularities.
Press u to see how many poses have been stored. We want around 2500 poses.
When you are done, press o to save the poses to a csv file.

Taking Photos

Unplug and re-plug the realsense from the computer.
open realsense-viewer
Disable the following options:
1. Enable auto Exposure
2. Enable auto white Balance
3. Auto Exposure Priority
Close realsense-viewer
Now we need to launch the camera node:

cd <catkin_workspace>/src/oms-cylinder/oms_launcher/launch/
roslaunch rs_camera.launch

In a separate terminal execute the script that will create the photos for calibration

cd <catkin_workspace>/src/oms-cylinder/camera2png/data
mkdri outpout
cd <catkin_workspace>/src/oms-cylinder/camera2png/scripts/
python camera2png.py ../data/example.py ../data/poses.csv ../data/output