ROS1 utilities for the industrial_calibration repository
ROS node that subscribes to an image stream and attempts to identify a calibration target in the image. If the target is identified, it:
- republishes the original image on a new topic
- publishes a new image with the target features overlaid on the original image for visualization
ROS node that collects data for performing hand-eye calibration with an RGB camera. This node:
- subscribes to a stream of images in which a calibration target has been identified (i.e., the republished image topic from the target finder node)
- exposes a service for collecting an image/pose observation pair (
/collect) - exposes a service for saving collected image/pose observation pairs to a specified directory (/
save)
ROS node that collectes data for performing a hand-eye calibration with a combination RGB + point cloud sensor (e.g., Intel Realsense, Photoneo, etc.) This node:
- subscribes to a stream of stream in which a calibration target has been identified (i.e., the republished image topic from the target finder node)
- subscribes to a point cloud of the 3D scene in which the calibration target has been identified
- exposes a service for collecting an image/cloud/pose observation triplet (
/collect) - exposes a service for saving collected image/cloud/pose observations to a specified directory (
/save)
cd <workspace>
vcs import src < src/industrial_calibration_ros/dependencies.repos
rosdep install --from-paths src -iry
<colcon/catkin> build
roslaunch industrial_calibration_ros data_collection.launch