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> <> == Documentation == This stacks provides tools for calibrating several aspects of the PR2's kinematics. This probably needs to be run only once per robot, unless sensors or mechanical parts are replaced or reattached. Recalibrating camera intrinsics will also most likely require a system recalibration The following aspects of the PR2 will be calibrated by the pr2_calibration stack * Forearm camera locations * Stereocam locations * Stereocam baselines * Joint angle offsets (Arms and Head) * Tilting Laser Location The following aspects of the PR2 are '''not''' calibrated by the pr2_calibration stack * Location of the PR2's Hi-Res Prosilica head camera * Camera Intrinsics (Distortion coefficients, Focal Lengths, etc) * Belt Stretch (deflection due to commanded effort) * Motor/Joint gear reductions * Link lengths & Link skew More information is available at: * [[pr2_calibration_executive]] * [[pr2_calibration_estimation]] * [[pr2_calibration_propagation]] == Calibrating the PR2 == Follow instructions in the [[/Tutorials/Calibrating the PR2|Calibrating the PR2]] Tutorial. == Stability == The only stable API for this stack is the PR2 calibration workflow defined in tutorial above. Expect the internal APIs to change. == Related Publications == The algorithm implemented in this stack is described in the following paper: <
> [[http://www.willowgarage.com/papers/calibrating-multi-arm-multi-sensor-robot-bundle-adjustment-approach | Calibrating a Multi-Arm Multi-Sensor Robot: A Bundle Adjustment Approach]] == Report a Bug == <> ##<> ## AUTOGENERATED DON'T DELETE ## CategoryStack