Automatic Ensenso N10 extrinsic calibration

[Victor L]

Hello,

The Ensenso N10 is an industrial 3D sensor using two cameras and the stereo-vision principle.
One interesting feature is that the sensors works in infrared wavelengths and an IR projector projects a random pattern to allow scanning uniform surfaces (where the stereo-correspondence would fail otherwise).

I integrated the Ensenso N10 in the Point Cloud Library (1.8.0 version, not yet released), you can find a tutorial here. The PCL EnsensoGrabber API is here.
This camera is very easy to use yet not very fast (only 4 FPS through PCL !) because of an unknown reason (it should be much faster).

I have made a package allowing fully automatic extrinsic calibration of the sensor mounted on a robot. It should be easy to change the robot and the setup (eg: fixed camera):
https://github.com/InstitutMaupertuis/ensenso_extrinsic_calibration

The extrinsic calibration relies on Ensenso SDK internals, there is no dependency to the industrial_calibration package.

So if you plan on using such a camera on a robot, it should be very easy with this package!
Don't hesitate to leave a message here or on the issue tracker if you have problems understanding how it works, making it work...

Bye

[Victor L]

Here is a video of the application running on our robot:
https://youtu.be/2g6gdx8fKX8

I have updated the package to add the calibration test button, the package is ready for usage and should only receive minor updates now.