在ROS中标定单目相机_详细步骤_人工智能

前期准备

安装相机驱动
- 详细内容见博客：https://blog.csdn.net/weixin_41074793/article/details/83474501
下载image_pipeline 并编译运行

$ cd catkin_ws/src  
$ git clone  https://github.com/ros-perception/image_pipeline.git  
$ cd ..  
$ rosdep install --from-paths src --ignore-src   # 安装image_pipeline 所需的依赖
$ catkin_make
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

第一步：启动相机

 roslaunch usb_cam usb_cam-test.launch

这一句是根据前期准备中安装相机驱动而来。

第二步：查看相机话题名称

用rostopic list命令查看，本人电脑的image的topic名称为：/usb_cam/image_raw

第三步：启动校正程序

rosrun camera_calibration cameracalibrator.py --size 7x6 --square 0.0232 image:=/usb_cam/image_raw camera:=/camera

输入如下命令重新尝试

rosrun camera_calibration cameracalibrator.py --size 7x6 --square 0.0232 image:=/usb_cam/image_raw camera:=/camera --no-service-check

如果成功，会有如下结果。
移动标定板，使得标定板需遍历整个图像区域，之后CALIBRATE会变绿。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。

在ROS中标定单目相机_详细步骤

结果展示

('D = ', [-0.04483935850269598, 0.21668635011274098, -7.511409441343408e-06, -0.014566337456272171, 0.0])
('K = ', [657.954311720957, 0.0, 297.0047475623269, 0.0, 653.7091694249858, 236.35301154477284, 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 = ', [664.5278930664062, 0.0, 290.7184962020892, 0.0, 0.0, 667.2344970703125, 236.43032880130704, 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
657.954312 0.000000 297.004748
0.000000 653.709169 236.353012
0.000000 0.000000 1.000000

distortion
-0.044839 0.216686 -0.000008 -0.014566 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
664.527893 0.000000 290.718496 0.000000
0.000000 667.234497 236.430329 0.000000
0.000000 0.000000 1.000000 0.000000