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Aruco tag mounted on the user created mount, attached to the robot
(Optional)Static Stationary Aruco tag placed in the scene which is clearly visible to the sensor(s)
Calibration preset in RPC called “Calibration” with accurate TCP frame located at the center of the Aruco tag.
For calibrating, create a frame on the Aruco tag face centered with its X axis (Red) pointing to the right, Y (Green) pointing upwards and Z (Blue) coming out of the face. Something like this:
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After the cal.json file has been generated, run the calibration_service.py script and open a browser to localhost:9000/calibration to calibrate all the cameras after rapidsense and rtr_rapidsense_proxy applications are running or alternatively, you can also use the RapidSense Monitor interface UI (see below) to perform calibration. The calibration script will pull in information from the cal.json file and move the robots to their targets sequentially, calibrating all corresponding cameras. The robot will then return to the home location and all cameras will save the pose of the static marker stationary tag if placed in the scene. After a successful calibration, all the values will be automatically updated in the cal.json file.
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The following prerequisites should be met before running calibration:
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Running Calibration from RapidSense Monitor UI
In the Settings page of the RapidSense Monitor UI, there is a button available which will run initiate the calibration service and process. A user will need to make sure that the robot is at the “[robotname]_home” target position before being able to run the process. A warning message will pop up to warn a user to ensure the calibration tag is attached to the robot and that the robot will move once it is confirmed to calibrate.
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'topic': 'Calibrate', 'data': { 'serial_number' : serial_number, 'tcp_pose' : tcp_pose } |
The calibration ASCII command { 'topic': 'Calibrate', 'data': { 'serial_number' : serial_number, 'tcp_pose' : tcp_pose } } is used where the serial_number is the camera to be calibrated and the TCP_pose is for the associated robot with the tag mounted on it. These values are sent over the proxy to rapidsense where Aruco detection algorithm finds the markers which allows for calibration of the sensors to occur. Before sending this command, the proper calibration robot preset must be active.
After successful calibration, the pose of the static marker is found and saved in the file cal.json. GetRapidSenseStatus is set as true for the is_calibrated for the corresponding sensor.
Continuous Calibration Checking Functionality
During the calibration process, the static Aruco tag in the scene is found and the image is cached to compare against during system running in order to detect when the sensors may have been shifted out of calibration. When it is detected that a sensor may have been shifted out of calibration, GetRapidSenseStatus is set to false for Is_calibrated for that particular sensor in order to warn the user that the calibration needs to be adjusted and run again.
Check the configuration
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Check the configuration
After calibration is completed successfully, confirm calibration succeeded by issuing a ScanScene command to show obstacles detected by RapidSense. Verify Visually inspect that the detected obstacles match the actual cells. Incorrect orientation of the calibration tag may objects in the volume match expectation. Unsuccessful calibration could result in the following.
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If calibration fails, verify the tag(s) are properly mounted to the robots (i.e., their orientation is correct, etc).
Sample cal.json File for (2) Sensors, (1) Sensor with Continuous Calibration Checking
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