transfer mojin calibration to cob calibration for cob4-24

Author: fmessmer

cob4-24/calibration/calibration_offset.urdf.xacro

@@ -47,7 +47,7 @@
 	<xacro:property name="offset_head_pitch" value="0.0"/>
 	<xacro:property name="offset_head_yaw" value="0.0"/>
 
-	<!-- sersorring mount positions | relative to head_3_link -->
+	<!-- sensorring mount positions | relative to head_3_link -->
 	<xacro:property name="offset_sensorring_x" value="0.0"/>
 	<xacro:property name="offset_sensorring_y" value="0.0"/>
 	<xacro:property name="offset_sensorring_z" value="0.0"/>
@@ -87,44 +87,42 @@
 	<xacro:property name="offset_gripper_left_pitch" value="0.0"/>
 	<xacro:property name="offset_gripper_left_yaw" value="0.0"/>
 
-	<!-- *********************************** -->
-	<!-- kinematic chain reference positions -->
-	<!-- *********************************** -->
-	<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->
-
-	<!-- cam3d left | handeye calibration | relative to torso_3_link -->
+	<!-- ***************************** -->
+	<!-- extrinsic camera calibration  -->
+	<!-- ***************************** -->
+	<!-- torso cam3d left mount positions | relative to torso_3_link -->
 	<xacro:property name="offset_torso_cam3d_left_x" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_left_y" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_left_z" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_left_roll" value="0.0"/>
-	<xacro:property name="offset_torso_cam3d_left_pitch" value="0.0"/>
+	<xacro:property name="offset_torso_cam3d_left_pitch" value="0.04"/>
 	<xacro:property name="offset_torso_cam3d_left_yaw" value="0.0"/>
 
-	<!-- cam3d right | handeye calibration | relative to torso_3_link -->
+	<!-- torso cam3d right mount positions | relative to torso_3_link -->
 	<xacro:property name="offset_torso_cam3d_right_x" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_right_y" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_right_z" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_right_roll" value="0.0"/>
-	<xacro:property name="offset_torso_cam3d_right_pitch" value="0.0"/>
+	<xacro:property name="offset_torso_cam3d_right_pitch" value="0.04"/>
 	<xacro:property name="offset_torso_cam3d_right_yaw" value="0.0"/>
 
-	<!-- cam3d down | handeye calibration | relative to torso_3_link -->
+	<!-- torso cam3d down mount positions | relative to torso_3_link -->
 	<xacro:property name="offset_torso_cam3d_down_x" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_down_y" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_down_z" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_down_roll" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_down_pitch" value="0.0"/>
 	<xacro:property name="offset_torso_cam3d_down_yaw" value="0.0"/>
-	
-	<!-- cam3d | handeye calibration | relative to sensorring_link -->
+
+	<!-- sensorring cam3d mount positions | relative to sensorring_link -->
 	<xacro:property name="offset_sensorring_cam3d_x" value="0.0"/>
 	<xacro:property name="offset_sensorring_cam3d_y" value="0.0"/>
 	<xacro:property name="offset_sensorring_cam3d_z" value="0.0"/>
 	<xacro:property name="offset_sensorring_cam3d_roll" value="0.0"/>
 	<xacro:property name="offset_sensorring_cam3d_pitch" value="0.0"/>
 	<xacro:property name="offset_sensorring_cam3d_yaw" value="0.0"/>
 
-	<!-- cam | handeye calibration | relative to head_3_link -->
+	<!-- head cam mount positions | relative to head_3_link -->
 	<xacro:property name="offset_head_cam_x" value="0.0"/>
 	<xacro:property name="offset_head_cam_y" value="0.0"/>
 	<xacro:property name="offset_head_cam_z" value="0.0"/>

cob4-24/calibration/cameras/head_cam.yaml

@@ -4,17 +4,17 @@ camera_name: head_cam
 camera_matrix:
   rows: 3
   cols: 3
-  data: [880.7080911778385, 0, 627.6616877342461, 0, 881.2999751980833, 491.5771758707277, 0, 0, 1]
+  data: [912.899608, 0.000000, 640.420778, 0.000000, 917.520761, 502.479759, 0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.3596187997560628, 0.1046521709908827, -0.001495978856979693, -0.001177351820299186, 0]
+  data: [-0.373478, 0.112529, -0.000921, -0.002183, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [668.5789794921875, 0, 614.8843741843884, 0, 0, 772.636962890625, 493.3122868681094, 0, 0, 0, 1, 0]
+  data: [700.806335, 0.000000, 632.696581, 0.000000, 0.000000, 809.140137, 508.162883, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]