depth_error_calibration.py

../../_images/depth_error_calibration.png

What Is This

This nodelet stores result of depth error calculated by DepthImageError and dump calibration parameter into CSV file (calibration-%Y-%m-%d-%H-%M-%S.csv).

Subscribing Topic

  • depth_image_error/output (jsk_recognition_msgs/DepthErrorResult)

    Result of depth error.

Publishing Topic

  • ~frequency_image (sensor_msgs/Image)

    Frequency map.

  • ~error_plot_image (sensor_msgs/Image)

    Plot of relation between Z from depth image and Z from checker board.

Internally Calling Service

  • /camera_remote/depth_calibration/set_calibration_parameter (jsk_recognition_msgs/SetDepthCalibrationParameter)

    Set depth calibration parameters.

Parameter

  • ~u_min (Int, default: 0)

  • ~u_max (Int, default: 4096)

  • ~v_min (Int, default: 0)

  • ~v_max (Int, default: 4096)

    Minimum/maximum limit of (u, v) of checkerboard corner.

Sample

roslaunch jsk_pcl_ros sample_depth_error_calibration.launch