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Kinovarobotics / Kinova-kortex2_Gen3_G3L

Code examples and API documentation for KINOVA® KORTEX™ robotic arms
https://www.kinovarobotics.com/
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Camera Calibration #167

Closed RobaczeQ closed 1 year ago

RobaczeQ commented 1 year ago

Summary

Hi again. I was trying to align point clouds from different points to have ability to estimate pose/orientation of some cubes using provided intrinsic and extrinsic camera parameters, but they are slightly misaligned. I was trying to use Dynamic Calibration Tool provided by Intel® RealSense™, but it doesn't support calibrating it through external systems connected by Ethernet.

Can I connect to camera by USB somehow? Can I access left, right and IR sensor separately or only 2d map of depth?

4.3 Connect camera to host system that whilst the camera that is to be calibrated will usually be connected to the host computer via a USB cable, "on systems with camera integrated it's already connected, so no extra step is required".

Can I connect to Kinova internal system and install calibration there? Is there a plan to add camera calibration to internal software like other in enum CalibrationItem? Any other ideas on how to get around this problem? (Other than suggested in #116)

Use case

Creating precise point clouds of environment.

felixmaisonneuve commented 1 year ago

Hi @RobaczeQ,

You cannot connect your camera by USB. You cannot connect to different sensor seperately. You only ave access to either Color or Depth sensor.

I do not think you can install a calibration file on the arm. There is nothing currently planned to improve/fix the vision module.

I hae very limited knowledge on the vision module, and I know many people are having issues trying to align depth and color streams. I do not know if there is anything you could do.

There is this one repo in the #116 issue that is also available in the feature/calibration-program branch of our ros_kortex_vision repo, but it requires you to use ROS and it doesn't actually align the streams inside the arm, I think it only aligns it on the RViZ feed.

So yeah, very little I can do to help you, Best, Felix

RobaczeQ commented 1 year ago

Thanks for information. Closing.

felixmaisonneuve commented 1 year ago

After verification, it is possible to disaemble the vision module and connect to the Intel depth sensor using USB-C