Tripod Calibration

Tripod for stereo camera calibration on ATOM.

Launching the tripod on Gazebo:

roslaunch t2rgb_bringup t2rgb.launch

Launching with RViz:

roslaunch t2rgb_bringup visualize.launch

Record bagfile for calibration (on another terminal):

roslaunch t2rgb_bringup record_sensor_data.launch

2 RGB Astra Cameras on the Tripod with a ChArUco:

Calibration Tree generated by ATOM:

ATOM Calibration

Set sensors initial pose:

Running calibration:

Evaluation the calibration