Tools for using a depth-camera in combination with Vicon tracking.
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include/vicon_depthcam
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CMakeLists.txt
README.md
package.xml
report.pdf

README.md

vicon_depthcam

Small tool for calibrating the offset between a depth camera and Vicon markers. Uses a target constructed of a chessboard with Vicon markers placed in known locations.

This library has three ROS nodes

  1. vicon_checker_calib - This node uses a checkerboard with additional Vicon markers to find the transformation between a depth camera output and the coordinate frame given by its Vicon markers.

  2. pointcloud_to_global - Combines a point cloud with a Vicon transform to give the points in the Vicon frame.

  3. image_converter - Converts images to 8-bit (needed for calibrating 16-bit ir images produced by many depth cams)

These functions are based off of work performed by Philipp Egger (See the report.pdf for further details)