Zaubot Intrinsics

[brunofavs]

intrinsics.zip

We need to solve the issue that the intel realsense cameras publish a camera_info topic but doesn't provide a set_camera_infoservice.

The messy solution is to replace the topic directly in the bagfile, but an online solution would be preferred.

[brunofavs]

Hey @miguelriemoliveira @Kazadhum,

Me and @manuelgitgomes calibrated the t265's fisheye cameras intrinsics this morning and we achieved some quite satisfying results.

We found this setting (marked by the red arrow) to be very impactful :

After calibration, the pattern grid seemed literally straight as a ruler in all 4 corners, whereas previously was completly rounded. t265_fisheye1.tar.gz

t265_fisheye2.tar.gz

[brunofavs]

Post calibration : https://github.com/lardemua/atom/assets/31831043/5298d189-0289-4443-a367-a5221c0455a2

[Kazadhum]

Awesome! So now we can calibrate the real zau system with the T265 right? I don't remember, did we converge on a solution to connecting the TF tree?

[brunofavs]

We should be. Didn't we settle on trying to invert the parent/child relationship in the vo_camera odom and renaming the tfs with rosbag_tools ?

[Kazadhum]

Ah yes, I'd forgotten about that

[miguelriemoliveira]

Post calibration : https://github.com/lardemua/atom/assets/31831043/5298d189-0289-4443-a367-a5221c0455a2

Looks good. Errors are most of the times under 1 pixel.

[brunofavs]

How did you conclude that the errors were under 1px?

[miguelriemoliveira]

In the video there's a number always changing, I think that's the average reprojection error for each frame, which is almost always under 1.0

[brunofavs]

Already done