Kinect2的标定

网址：https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration#calibrating-the-kinect-one
1、降帧：rosrun kinect2_bridge kinect2_bridge _fps_limit:=2（2帧）
2、创建文件夹用于储存标定数据：mkdir ~/kinect_cal_data; cd ~/kinect_cal_data
3、准备好标定板chess5x7x0.03
4、记录彩色摄像机数据：rosrun kinect2_calibration kinect2_calibration
5、标定彩色摄像头：rosrun kinect2_calibration kinect2_calibration
6、记录红外摄像头数据：rosrun kinect2_calibration kinect2_calibration
7、标定红外摄像头： rosrun kinect2_calibration kinect2_calibration
8、同时记录彩色和红外数据: rosrun kinect2_calibration kinect2_calibration
9、标定外参：rosrun kinect2_calibration kinect2_calibration
10、标定深度： rosrun kinect2_calibration kinect2_calibration
11、在步骤1的打印结果中找到device serial是什么
12、在 kinect2_bridge/data/$serial下新建名为device serial的文件夹
13、复制 ~/kinect_cal_data下的calib_color.yaml calib_depth.yaml calib_ir.yaml calib_pose.yaml到新建的文件夹
Restart the kinect2_bridge and be amazed at the better data.
亲测有效