[ros-users] Kinect for ROS (ccny-ros-pkg)

[Ivan Dryanovski]

I was thinking the same thing for the calibration. Not sure what
material to use though. Another idea is to laser-cut a checkerboard
with square holes to get depth discontinuity. It might require some
modification to the detection algorithm in the calibration toolkit.

Ivan

On Saturday, November 13, 2010, Stefan Kohlbrecher
<stefan.kohlbrecher at googlemail.com> wrote:
> I see, will try that later.
> Any ideas about how to get a good calibration? The best option coming
> to my mind would be to find some material that swallows IR and make a
> checkerboard pattern out of that that shows up in the depth image as
> well as the normal camera image. Haven't found a material reliably
> doing that yet though.
>
> 2010/11/13 Ivan Dryanovski <ivan.dryanovski at gmail.com>:
>> Thanks Stefan
>>
>> I wrote an rviz patch for the coloring that adds a new color mode (Height map):
>>
>> https://code.ros.org/trac/ros-pkg/ticket/4278
>>
>> The patch actually allows coloring by "z" value. We tweaked it for the
>> Kinect video to color by "y". You can change which axis you want to
>> color by if you edit these lines in the patch:
>>
>> 473         min_height_current = std::min(min_height_current, pos.y);
>> 474         max_height_current = std::max(max_height_current, pos.y);
>> 475
>> 476         heights.push_back(pos.y);
>>
>> Change the pos.y to pos.x or pos.z for different effects
>>
>> Ivan Dryanovski
>>
>>
>> On Sat, Nov 13, 2010 at 11:41 AM, Stefan Kohlbrecher
>> <stefan.kohlbrecher at googlemail.com> wrote:
>>> Very nice, especially the first basic depth calibration.
>>> How do I get the color coding for the point cloud that is visible in
>>> the video? I can only select "flat color" in my RVIZ.
>>>
>>> 2010/11/13 Bill Morris <morris at ee.ccny.cuny.edu>:
>>>> On Fri, 2010-11-12 at 19:43 -0800, RobotNV wrote:
>>>>> You guys are so fast! I don't see the bag file in the link in 5. Example on the wiki though.
>>>>
>>>> I'm working on getting it uploaded. Should be up in the next few hours,
>>>> my connection is slow here.
>>>>
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