Overview

The rgbd_depth_correction package provides a tool for calculating and correcting the depth error (distortion and bias) of a RGBD camera. This is done by placing a calibration target on a flat surface, then comparing the sensor depth data to the position found using the calibration target.

This method requires two things:

• The camera intrinsic parameters have been accurately calibrated using the intrinsic_cal package or some other method

• The calibration target is placed on a flat, featureless wall which completely fills the field of view of the camera.

The calibration results are then used by the depth correction nodelet which runs in the camera nodelet manager and publishes a corrected point cloud.

Motivation

As was found by Daniel Herrera C., Juho Kannala, and Janne Heikkila, (http://www.cse.oulu.fi/~dherrera/papers/2012-KinectJournal.pdf), RGBD cameras have not only depth error that is radial, but is depth dependent. In order to correct for this depth error, a series of images must be taken of a calibration target on a flat surface. This package provides a method for calibrating and correction this depth error.

Tutorials

• Examples can be found in the tutorials section.