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‎.gitignore

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*.npy
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*.pcd
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**/pointclouds/*
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**/pointclouds/**/*
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**/pointclouds2/*
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**/pointclouds2/**/*
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**/pointclouds*/*
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**/pointclouds*/**/*
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*.bag

‎README.md

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# rpad_ros
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Place where R-pad ROS stuff lives.
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http://wiki.ros.org/pcl_ros/Tutorials/filters

‎calibration.md

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‎calibration_overview.png

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‎camera_calibration.md

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# Camera Calibration Handbook
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A spectre is is haunting robotics - the spectre of calibration.
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In this repository, we're gonna focus on
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## Overview
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![](calibration_overview.png)
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[Drive Link](https://docs.google.com/drawings/d/1KTcM1QniX58rSm84I1FFqzv54V7orZXqCRdcAiAHqxo/edit)
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## Intrinsics
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Note: stock intrinsics on the Kinect are OK - not great, not terrible. However, slight inaccuracies in the calibration cause issues, in particular color bleeding and non-planar surfaces...
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Known issue: depth-to-rgb
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Check k4aviewer
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### RGB Camera
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### IR Camera
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## Validating Intrinsics
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## Extrinsics
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### Manual
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#### Independent Calibration
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#### Calibration adjustment
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### easy_handeye
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### moveit_calibration
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TODO: not really supported...
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### Polymetis
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### Kalibr
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### Idealized Joint Calibration Setup...
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## Validating Extrinsics
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### Single Camera
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### Multi-Camera
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Possible future options:
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* Perform calibration from rgb_to_depth. The justification here is that if we calibrate to the depth camera's frame, then the error profile will be better aligned with our downstream output (good point clouds). However, it's a bit spotty visually, so apriltags may not be visualized properly.
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https://calib.io/blogs/knowledge-base/camera-models
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https://rosindustrial.org/3d-camera-survey
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‎launch/README.md

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Pipeline for nonsense:
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```
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ROS_HOME="`pwd`" roslaunch rpad_ros record_pcs_for_alignment.launch
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```
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mkdir pointclouds
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mkdir 0 1 2 3
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ROS_HOME="`pwd`" roslaunch rpad_ros record_table1_pcs_for_calibration_refinement.launch
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```
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‎launch/calibrate.launch ‎launch/calibrate_extrinsics_easyhandeye.launch

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<!-- CAMERA -->
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<arg name="camera_id" default="0"/>
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<!-- Cameras:
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0: Left of the robot (closest to the computer)
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1: Across from the robot
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2: Right of the robot
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3: Directly next to the robot
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-->
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<!-- Derive the sensor serial name from the id indexing into this list. It's a bit of a hack.
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In a different robot configuration, you'd use something different. -->
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<arg name="sensor_sn" default="$(eval '000003493812,000180921812,000059793712,000263392612'.split(',')[arg('camera_id')])"/>
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<!-- ROBOT -->
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<!-- Robot arguments. The defaults are for the franka, but you could change. -->
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<arg name="move_group" default="panda_arm"/>
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<!-- Launch the camera driver -->
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<group ns="k4a_$(arg camera_id)">
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<include file="$(find azure_kinect_ros_driver)/launch/kinect_rgbd.launch">
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<arg name="sensor_sn" value="$(arg sensor_sn)"/>
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<!-- Naming. -->
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<arg name="tf_prefix" value="k4a_$(arg camera_id)/"/>
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<!-- Sensor properties -->
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<arg name="color_resolution" value="2160P"/>
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<!-- <arg name="color_resolution" value="1080P"/> -->
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<!-- ROS node properties. -->
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<arg name="required" value="true"/>
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<arg name="overwrite_robot_description" value="false"/>
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</include>
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</group>
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<include file="$(find rpad_ros)/launch/launch_rgbd.launch">
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<arg name="camera_id" value="$(arg camera_id)"/>
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<arg name="synchronized" value="false"/>
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</include>
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<!-- Launch the tracker. -->
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<include file="$(find rpad_ros)/launch/aruco_single.launch">
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</include>
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<!-- Launch static publishers which describe the frame of the tag w.r.t. the robot. -->
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<include file="$(find rpad_ros)/launch/calibration_frame_publishers.launch" />
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<include file="$(find rpad_ros)/launch/tag_mount_publishers.launch" />
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<!-- Launch the robot planning scene! -->
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<include file="$(find rpad_ros)/launch/table1_planning_scene.launch" />

‎launch/calibrate_extrinsics_manual.launch

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<launch>
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<!-- CAMERA -->
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<arg name="camera_id" default="0"/>
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<!-- FIDUCIAL TAG DETECTION FRAME -->
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<arg name="aruco_marker_id" default="581"/>
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<arg name="aruco_marker_size" default="0.045"/>
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<!-- Launch the camera driver -->
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<include file="$(find rpad_ros)/launch/launch_rgbd.launch">
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<arg name="camera_id" value="$(arg camera_id)"/>
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<arg name="synchronized" value="false"/>
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</include>
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<!-- Launch the tracker. -->
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<include file="$(find rpad_ros)/launch/aruco_single.launch">
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<arg name="markerId" value="$(arg aruco_marker_id)"/>
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<arg name="markerSize" value="$(arg aruco_marker_size)"/>
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<arg name="camera_frame" value="k4a_$(arg camera_id)/rgb_camera_link"/>
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<arg name="camera_info_topic" value="/k4a_$(arg camera_id)/rgb/camera_info"/>
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<arg name="image_rect_color_topic" value="/k4a_$(arg camera_id)/rgb/image_rect_color"/>
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</include>
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<!-- Launch static publishers which describe the frame of the tag w.r.t. the robot. -->
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<include file="$(find rpad_ros)/launch/tag_mount_publishers.launch" />
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<!-- Launch the robot planning scene! -->
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<include file="$(find rpad_ros)/launch/table1_planning_scene.launch" />
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<!-- Launch rviz with saved stuff. -->
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<node type="rviz" name="rviz" pkg="rviz" required="true" args="-d $(find rpad_ros)/launch/rviz/calibrate.rviz" />
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</launch>

‎launch/calibrate_extrinsics_moveit.launch

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<launch>
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<!-- CAMERA -->
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<arg name="camera_id" default="0"/>
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<!-- FIDUCIAL TAG DETECTION FRAME -->
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<arg name="aruco_marker_id" default="581"/>
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<arg name="aruco_marker_size" default="0.045"/>
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<!-- Launch the camera driver -->
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<include file="$(find rpad_ros)/launch/launch_rgbd.launch">
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<arg name="camera_id" value="$(arg camera_id)"/>
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<arg name="synchronized" value="false"/>
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</include>
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<!-- Launch static publishers which describe the frame of the tag w.r.t. the robot. -->
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<include file="$(find rpad_ros)/launch/tag_mount_publishers.launch" />
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<!-- Launch the robot planning scene! -->
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<include file="$(find rpad_ros)/launch/table1_planning_scene.launch" />
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<!-- Launch rviz with saved stuff. -->
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<node type="rviz" name="rviz" pkg="rviz" args="-d $(find rpad_ros)/launch/rviz/calibrate_moveit.rviz" />
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</launch>

‎launch/calibrate_intrinsics.launch ‎launch/calibrate_intrinsics_ros.launch

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<arg name="square" default="0.034" />
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<arg name="ir_mono8_scaling_factor" value="0.05" />
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<!-- TODO: decide if this should just be the driver, without the rectification. -->
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<group ns="k4a_$(arg camera_id)">
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<include file="$(find azure_kinect_ros_driver)/launch/kinect_rgbd.launch">
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<arg name="sensor_sn" value="$(arg sensor_sn)"/>

‎launch/calibrate_manual.launch

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‎launch/calibrate_moveit.launch

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