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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
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How to make sure that the kinect2_bridge is actually using the calibration files #392

Closed ulkesh11 closed 7 years ago

ulkesh11 commented 7 years ago

I have followed the entire process of calibrating kinect2 and finally have placed the 4 calibration files in kinect2_bridge/data/$serial. But there is no difference in the pre-calibration and post calibration results

How can I make sure that the new calibrated files are actually being used?

xuhangxx commented 7 years ago

I am facing the same problem, I repeated the calibration process for many times and made sure that I am not missing anything. Who can help me!!!

kohrt commented 7 years ago

While stating up kinect2_bridge, it will tell you if it used the defaults or loaded a calibration.

TrinhNC commented 7 years ago

@vacky11 and @xuhangxx , have you found the solution? I also create a folder with serial name and place 4 calibrated files there, but it seems like the calibrated files are not loader. When I run kinect2_bridge it always said "sing sensor defaults for..."

ulkesh11 commented 7 years ago

@TrinhTUHH As wiedemeyer suggested, kinect2_bridge does tell you whether it is using defaults or loads a calibration. In my case, just because there was no notable difference between before calibration and after calibration results, I was not sure if the calibration was being loaded or not

TrinhNC commented 7 years ago

Hi @vacky11 , In my case, when I launch kinect2_bridge, this always pops up:

[ WARN] [1503322309.788054755]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
[ WARN] [1503322309.788091272]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
[ WARN] [1503322309.788112455]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
[ WARN] [1503322309.788128397]: [Kinect2Bridge::initCalibration] using defaults for depth shift.

And I'm pretty sure that the calibration files are not loaded because even when I added weird characters into these files, there were no errors while running kinect2_bridge. Does this warning also occur in your case?

ulkesh11 commented 7 years ago

@TrinhTUHH I dont have access to Kinect2 anymore. So I cant verify this. Sorry about that.