[ros-users] Kinect RGB-D Calibration

[Tully Foote]

Bill,
As an alternative to silk screening you might look at vinyl printing.  It
can be printed and then a transfer sheet can be used to accurately lay it
down.  And there are a lot of places with the ability to cut vinyl.

Tully

On Tue, Nov 16, 2010 at 7:19 PM, Bill Morris <morris at ee.ccny.cuny.edu>wrote:

> On Tue, 2010-11-16 at 18:35 -0800, Radu Bogdan Rusu wrote:
> > Hi Bill,
> >
> > Great work!
>
> Ivan gets the credit for this, I just helped with the rubber cement.
>
> > A few suggestions:
> >
> >   * use a larger calibration pattern that covers more of the image
> >   * use a calibration pattern with more squares
>
> The glass we are using is slightly reflective to IR but it is
> manageable. However, the transparency film we are using to make the
> squares is much more reflective and we had to cut out the individual
> black squares. We are probably going to look at silk screening the
> pattern on to a larger sheet of glass to improve alignment.
>
> > * if the estimates of the corners (after subpixel refinement) are still
> bad, an iterative fitting process (or LMedS or
> > RANSAC) could help
>
> We will make a bag file of our calibration tests tomorrow to help move
> this forward.
>
> > Alternatively, a calibration plate with circles would be better. We
> already have code ready that we need to commit for
> > finding out centers of circles/ellipses and using those for calibration
> plates a la
> >
> http://www.mvtec.com/halcon/applications/imgs/3d-vision-example-3d-calibration01.png,
> so this might improve things.
>
> Can this code be made available somewhere so we can test it before
> resorting to silk screening?
>
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-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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