Kinova camera calibration

GianlucaCerilli commented 5 years ago

Hello,

I am using a Kinova Jaco2 arm with a monocular camera mounted on the end effector. Is it possible to use this package for the camera calibration? I am on Ubuntu 16.04 with ros kinetic.

Thank you very much

fspindle commented 5 years ago

If you mean the hand-eye calibration I would say yes if you have a node that is able to publis the pose of the end-effector in the robot base frame as explained here.

GianlucaCerilli commented 5 years ago

HI @fspindle,

Thank you for your reply. I don't understand some steps, I am sorry, so I wanted to ask you few things if it is possible.

For this code to work with my camera and robot, is it necessary to change only the topic parameters in ''client.cpp" code?
I am using a chessboard as object for camera calibration. How do you specify in the code the origin of the frame of the object to both put it in a know position wrt the world frame and to also get the extrinsic parameters from the camera?
I know the end-effector pose wrt the robot base frame. I should also know the position of the chessboard wrt the robot base frame. But I don't know the pose of the camera (mounted on the end-effector) wrt the object. So, how can you feed the camera-to-object transformations?

Sorry for the many questions and thank you very much!

woshisj commented 5 years ago

Do you success calibration with Kinova Jaco2 arm now?

lagadic / vision_visp

Kinova camera calibration #87