[ros-users] swissranger_camera Issues

Radu Bogdan Rusu rusu at willowgarage.com
Wed May 5 08:31:07 UTC 2010


There's two questions that you are answering...

Bill Morris wrote:
> Hello,
> I'm working with the SR4K and the swissranger_camera driver on
> boxturtle. I was wondering if there was any calibration procedures for
> the driver.

The SR4k camera usually comes calibrated from the factory, and you should already obtain undistorted images from it. 
There are _other_ calibration means however (e.g., depth) which require some fancier techniques. There is currently no 
way to do that in ROS at the moment (nor do I know any open source software alternatives to do that).

> I got the point cloud running in rviz with a camera and it looks like
> the data from the sr4k is lagging behind the color camera images by a
> few tenths of a second. Does anyone have any ideas as to the cause of
> this? I tried adjusting the integration time, but that did not seem to
> help.

As far as I understand, you have a rig with a sr4k and another color camera mounted together, and you want to color the 
disparity data from the swissranger using rgb colors from the camera. To do that, you need to get the parameters (i.e., 
rotation + translation + intrinsics) of your camera setup. I did that in the past (you can check my publications list) 
by calibrating the intensity data from the swissranger with a color camera, simply by using a calibration board and 
standard OpenCV routines.

Also, are you using the new swissranger driver that Patrick wrote or the old one that I wrote?

| Radu Bogdan Rusu | http://rbrusu.com/

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