ropal-cardiff / zivid_project Goto Github PK

This package is presented as a catkin workspace source. It has the following main dependencies:

• Kuka iiwa lbr
• Zivid one camera
• Robotiq 2f gripper
• Aruco marker

• Ubuntu 16.04
• ROS Kinetic
• Python 2.7
• python -m pip install -r requirements.txt

The package has 2 main functions: camera calibration and automatic grasping. They are all implemented as command line prompts to be easily accessible. The following links point you to the detailed instructions.

1. Camera calibration via iiwa_stack and easy_handeye

• Get intrinsics from Zivid official API
• Perform eye on base extrinsic calibration with easy_handeye
• Perform extrinsic fine-tuning with open3d
• Obtain a reference point cloud with a ground truth grasping pose
• (Under development) Fusing multiple point cloud of an object via registration

2. Automatic grasping via fpfh-based fast global registration and icp refinement