Industrial Calibration

Description

A set of tools for performing calibration between cameras and robots and analyzing the accuracy of the calibration.

See the calibration primer for more information on the tools in this repository

Modules

• Core
  • Contains definitions for common data types (e.g., features, correspondences, observations, camera intrinsics, etc.) and interface classes.
• Optimizations
  • Contains type definitions, cost functions, and optimization algorithms for various calibration optimizations
• Analysis
  • Contains functions for analyzing the accuracy of sensors and various types of calibrations
• Target Finders
  • Contains implementations of the interface for finding calibration targets from sensor measurements (e.g., 2D images)
• GUI
  • Contains Qt-based GUI widgets for performing various types of calibrations
• Examples
  • Contains examples with real data for various types of calibrations, including analysis of the results

ROS Interfaces

In order to streamline support and building while both ROS 1 and ROS 2 are in use, the ROS interfaces for this library have been moved to separate repositories.

• ROS 1 Interfaces
• ROS 2 Interfaces

GUI Applications

• Extrinsic hand-eye calibration
• Camera intrinsic calibration

Build

cd <workspace>
vcs import src < src/industrial_calibration/dependencies.repos
rosdep install --from-paths src -iry
colcon build