Mutil_Calibration

This repo combine Camera Intrinsics, Hand-eye Calibration, Camera-laser extrinsics method by using Robot arm

0. Installation

This section is about the requested repo need to be install before the calibration.

0.1 Environment

This linux use Ubuntu 18.04 and ROS Melodic (Installation). ROS noetic can also work with the MEI camera model download from (Model file)

0.2 Install dependencies Workspace

1. blaser_ros
2. Ximea_ws (may install with the Blaser Dependencies)
3. Universal_Robots_ROS_Driver
4. MoveIt Tutorials Melodic / MoveIt Tutorials Noetic
5. Apriltag_ROS

0.3 Build Calibration Workspace

$ cd ~
$ mkdir -p ~/calibration_ws/src
$ cd ~/calibration_ws/src
$ git clone https://github.com/AprilRobotics/apriltag.git      # Clone MOVEIT
$ git clone https://github.com/AprilRobotics/apriltag_ros.git  # Clone Apriltag ROS wrapper
$ mkdir ~/calibration_ws/src/src
$ cd ~/calibration_ws/src/src
$ git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver # Clone Universal_Robots_ROS_Driver
$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot # Clone Universal_Robots_ROS_Driver
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y
$ cd ~/calibration_ws
$ catkin build

After build success, we clone the Mutil_Calibration repo into source file

$ cd ~/calibration_ws/src
$ git clone https://github.com/biorobotics/Mutil_Calibration.git
$ cd ~/calibration_ws
$ catkin build

Better catkin build several time (mostly three)

The calibration workspace should contain the following repo in the src:

• Universal_Robots_ROS_Driver
• MoveIt
• Mutil_Calibration

1. Camera Intrinsics

2.1 Hardware needed

• UR5e robot arm
• Camera holder(Example)

2. Hand-eye Calibration

2.1 Hardware needed

• UR5e robot arm
• Camera holder(Example)
• April tag holder(Example)

Jupyter Notebook scrip for Hand-eye calibration

3. Camera-laser extrinsics

3.1 Hardware needed

• UR5e robot arm
• Camera holder(Example)
• Laser On