Calibration

[senia]

Hi,
I want to calibrate my kinect(XBOX 360) to get more accurate results.
I saw here that you( matlabbe) said that the kinect is already calibrated, and the drivers will ignore calibration files, yet here I saw an opposite statement that said you can calibrate your kinect for better accuracy. I managed to calibrate using that tutorial(using freenect_launch, yet I still got 2 questions:
1. Does the drivers still use the "factory calibration" or I could insert my own calibration values? because I see some difference between the factory calibration and mine calibration.
2. I made 2 calibrations, one for RGB and one for depth(IR), which one should I use or put into the "Preferences-->Source-->Calibration file path"?(If I can, Q1)
Thank you.

[matlabbe]

Hi Senia,

If you are on ROS, the images are rectified/registered outside rtabmap, so yes your calibration will be used (just refer to camera node used like freenect_launch, openni_launch or openni2_launch to make sure). On ROS, rtabmapviz should have the Preferences->Source panel disabled anyway.

The standalone supports only Kinect v2 and stereo calibration (rectification/registration). However, if you want to calibrate the depth measurements for Kinect v2, I recommend to use the iai_kinect2 package.

As you are using a Kinect for XBOX 360, you may switch to rtabmap_ros so that you have the images rectified/registered with your calibration.

cheers

[senia]

Thanks for the fast replay,
So just to make sure, its not possible to improve already captured rtabmap database using calibration? Only future captures and using ROS?
Thanks.

[matlabbe]

Yes, only future captures using ROS for freenect/openni/openni2.

cheers