kinect_calibration_coppeliasim_ros2

This is illustration of how kinect can be calibrated using coppeliasim and ros2.

Requirements

1. CoppeliaSim
2. Ros Humble
3. Ubuntu 22.04 / Linux Mint 21.2

Usage

1. Clone this repository or download the scene file.
2. Open CoppeliaSim and load the kinect_calibrate.ttt scene.
3. Follow the camera calibration tutorial to install camera calibration package for ros2.
4. In CoppeliaSim start the loaded scene and open terminal to run script for camera calibration.

   ros2 run camera_calibration cameracalibrator --no-service-check --size 7x9 --square 0.02 --ros-args -r image:=/kinect_rgb -p camera:=/kinect/camera_info
   

5. After enough data is available for calibration the CALIBRATE button will light up. Click it to see the results.
6. After the calibration is completed the save and commit buttons light up. And you can also see the result in terminal.