ros下单目相机校正

标签：

1. 安装相应的驱动与程序包。

    图像相应包   http://wiki.ros.org/camera_calibration          在gitbub下载image_pipeline ：      https://github.com/ros-perception/image_pipeline 

    安装相应的驱动 

        1）uvc_camera          ktossell/camera_umd                   sudo apt-get install ros-indigo-xxxxx     (      camera_umd     jpeg_streamer  uvc_camera  )

        2）usb_cam          http://wiki.ros.org/usb_cam             bosch-ros-pkg/usb_cam

2. 相机校正的步骤

    1）  启动相机  uvc_camera  或者   usb_cam

         roslaunch usb_cam camera.launch           (个人的  camera.launch)  rviz 具体文件见后。（也可以自己先打开rviz 添加topic后保存，以后直接调用保存的.rviz即可）

camera.launch

<launch>
	<node pkg="rviz" type="rviz" name="rviz" 
		args="-d $(find usb_cam)/launch/camera.rviz"/>		

	<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" respawn="false" output="log">
		<param name="video_device" type="string" value="/dev/video0"/>
		<param name="camera_frame_id" type="string" value="usb_cam"/>
		<param name="framerate" type="int" value="30"/>
		<param name="io_method" type="string" value="mmap"/>
		<param name="image_width" type="int" value="640"/>
		<param name="image_height" type="int" value="480"/>
		<param name="pixel_format" type="string" value="yuyv"/>
	</node>
</launch>

    2） 启动校正程序

        参见教程    http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

yhzhao@yhzhao:~$ rostopic list
/usb_cam/camera_info
/usb_cam/image_raw     ################################
/usb_cam/image_raw/compressed 
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressed/parameter_updates
/usb_cam/image_raw/compressedDepth

出错：如下
(‘Waiting for service‘, ‘/camera/set_camera_info‘, ‘...‘)
Service not found

运行如下语句： 角点数 棋盘格大小  topic映射
 rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0245 image:=/usb_cam/image_raw camera:=/camera --no-service-check

注意：校正采集的角点图像要多，数量达到一定效果时，calibration 按钮会变亮，点击即可进行校正运算，结果在终端有显示，也可以选择保存。

校正输出结果：

('D = ', [-0.1976212648687889, 0.1688022413942262, 0.0124442419926021, 0.005870906198680583, 0.0])
('K = ', [485.5897704187133, 0.0, 297.2537641560215, 0.0, 491.6813624489518, 296.2003190013238, 0.0, 0.0, 1.0])
('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
('P = ', [462.4408874511719, 0.0, 301.47298442859574, 0.0, 0.0, 469.7864074707031, 301.54598383033044, 0.0, 0.0, 0.0, 1.0, 0.0])
None
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo]

camera matrix
485.589770 0.000000 297.253764
0.000000 491.681362 296.200319
0.000000 0.000000 1.000000

distortion
-0.197621 0.168802 0.012444 0.005871 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
462.440887 0.000000 301.472984 0.000000
0.000000 469.786407 301.545984 0.000000
0.000000 0.000000 1.000000 0.000000

3. 启动 ros 相机对应节点发布图像topic

            carmera_haved_calibrated.launch

<launch>
	<node pkg="rviz" type="rviz" name="rviz" 
		args="-d $(find usb_cam)/launch/camera.rviz"/>		

	<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" respawn="false" output="log">
		<param name="video_device" type="string" value="/dev/video0"/>
		<param name="camera_frame_id" type="string" value="usb_cam"/>
		<param name="io_method" type="string" value="mmap"/>
		<param name="image_width" type="int" value="640"/>
		<param name="image_height" type="int" value="480"/>
		<param name="pixel_format" type="string" value="yuyv"/>
		<rosparam param="D">[-0.1976212648687889, 0.1688022413942262, 0.0124442419926021, 0.005870906198680583, 0.0]</rosparam>
		<rosparam param="K">[485.5897704187133, 0.0, 297.2537641560215, 0.0, 491.6813624489518, 296.2003190013238, 0.0, 0.0, 1.0]</rosparam>
		<rosparam param="R">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
		<rosparam param="P">[462.4408874511719, 0.0, 301.47298442859574, 0.0, 0.0, 469.7864074707031, 301.54598383033044, 0.0, 0.0, 0.0, 1.0, 0.0]</rosparam>
	</node>
</launch>

<pre name="code" class="html">$(find usb_cam)/launch/camera.rviz文件

ros下单目相机校正

标签：

原文地址：http://blog.csdn.net/zyh821351004/article/details/46762295