Calibrating Realsense RGB Camera ROS Melodic

  • Adjust Realsense camera resolution:
roscd realsense2_camera
nano rs_camera.launch
  • Edit rs_camera.launch file. Change to the following resolutions:
<arg name="depth_width"         default="1280"/>
<arg name="depth_height"        default="720"/>
<arg name="enable_depth"        default="true"/>

<arg name="infra_width"        default="1280"/>
<arg name="infra_height"       default="720"/>
<arg name="enable_infra1"       default="true"/>
<arg name="enable_infra2"       default="true"/>

<arg name="color_width"         default="1920"/>
<arg name="color_height"        default="1080"/>
<arg name="enable_color"        default="true"/>
  • Check new configuration:
roslaunch realsense2_camera rs_camera.launch
rosrun image_view image_view image:=/camera/color/image_raw
rostopic echo /camera/color/camera_info
  • Check that camera_info is informing of a 1920×1080 resolution
  • Execute calibration program (adjust size and square according to your printed board):
rosrun camera_calibration cameracalibrator.py --no-service-check --size 8x6 --square 0.2463 image:=/camera/color/image_raw
  • tutorials/calibrating_realsense_rgb_camera_ros_melodic.txt
  • Last modified: 2019/09/13 17:06
  • by admin