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Improve Accuracy of Pick Up #5

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portgasray opened this issue Sep 3, 2019 · 2 comments
Open

Improve Accuracy of Pick Up #5

portgasray opened this issue Sep 3, 2019 · 2 comments
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@portgasray @chaogehah
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enhancement New feature or request P2 priority
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Improve Accuracy

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@portgasray
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portgasray commented Sep 3, 2019 •
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Improve the position's accuracy

  • Calibration with a small plate (Re-Calibration)
  • Compensate

https://github.com/portgasray/ur5_ROS-Gazebo/blob/2f7b9b056bb41b9412f86589a60e25ba2816b78b/ur5_mp.py#L253
@portgasray portgasray added enhancement New feature or request P2 priority labels Sep 3, 2019
@portgasray portgasray self-assigned this Sep 3, 2019
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portgasray commented Sep 4, 2019 •
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  • plate 51mm

  • intrinsic camera Parameters
    w*h = 640 * 480

    PPX: 314.059814453125
    PPY: 248.703369140625
    Fx: 613.410034179688
    Fy: 613.709289550781

Projection in Realsense contains parameters defination.

微信截图_20190905112816

ppx and ppy filed describe the pixel coordinates of the principal point(center of projection)

intrinsic matrix (mm):

613.41003 0.00000 314.05981
0.00000 613.70928 248.70336
0.00000 0.00000 1.00000

@portgasray
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get depth from realsense camera IntelRealSense/librealsense#3460 (comment)

@portgasray portgasray changed the title Improve Accuracy Improve Accuracy of Pick up Sep 5, 2019
@portgasray portgasray changed the title Improve Accuracy of Pick up Improve Accuracy of Pick Up Sep 5, 2019
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enhancement New feature or request P2 priority
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@portgasray @chaogehah