RGBD图像和深度图对齐
本文为个人笔记，可能对大家帮助不大
相机：Xvisio
目的：获取同一坐标系下的深度图和RGB图像
首先根据给出的read_calibration sample把灰度相机改成RGB和TOF相机，得到两个相机的外参和内参
Stereo:彩色相机
Calibration:
R:[0.999942, -0.0105642, 0.00221015, 0.0106091, 0.999714, -0.0214202, -0.00198323, 0.0214424, 0.999768]
T: [0.00129305, -0.000780199, 0.0647487]
PDCM0: {w=640, h=480, fx=481.111, fy=481.111, u0=319.016, v0=240.671, distor=[0.177849, -0.584516, 2.02086e-05, -0.00123024, 0.557474]}
PDCM1: {w=1280, h=720, fx=966.287, fy=966.287, u0=638.449, v0=360.194, distor=[0.186443, -0.656735, 0.000809626, -0.00164232, 0.669914]}
PDCM2: {w=1920, h=1080, fx=1420.9, fy=1420.9, u0=941.479, v0=541.334, distor=[0.185723, -0.642745, 0.00136189, -0.00111005, 0.634922]}
Stereo:TOF相机
Calibration:
R:[-0.99996, 0.00648826, -0.00616031, -0.00632826, -0.999651, -0.025646, -0.00632456, -0.025606, 0.999652]
T: [-0.0165595, -0.000393681, 0.0625978]
PDCM0: {w=224, h=172, fx=193.894, fy=193.894, u0=111.756, v0=86.6579, distor=[0.297176, -1.9614, -0.00178154, -0.000141994, 3.61719]}
可视化的几个指令
roslaunch xv_sdk xv_sdk.launch
rosrun rviz rviz -d `rospack find xv_sdk`/rviz/demo.rviz
xslam-viewer
用rosbag record -a 录制数据包
rosbag info
先写一个ros程序把对应的图片读取出来, topic 为
/xv_sdk/xv_dev/color_camera/image_color
/xv_sdk/xv_dev/tof_camera/image
运行提取图片的脚本
python get_depth_rgb_from_rosbag.py
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)
报错参考：链接
这个相机输出的深度图貌似是8位的(后边验证是32位的)
下一步要把RGB图像映射到深度图上
R_dep
[[-0.99996 0.00648826 -0.00616031]
[-0.00632826 -0.999651 -0.025646 ]
[-0.00632456 -0.025606 0.999652 ]]
t_dep
[[-0.0165595 ]
[-0.00039368]
[ 0.0625978 ]]
R_rgb
[[ 0.999942 -0.0105642 0.00221015]
[ 0.0106091 0.999714 -0.0214202 ]
[-0.00198323 0.0214424 0.999768 ]]
t_rgb
[[ 0.00129305]
[-0.0007802 ]
[ 0.0647487 ]]
R_dep2rgb
[[-0.99998416 0.00417594 -0.00384431]
[-0.00399032 -0.99888289 -0.04707852]
[-0.00403661 -0.04706242 0.99888357]]
R_dep2rgb
[[-0.0150239 ]
[ 0.00170749]
[ 0.00213541]]
R_rgb2dep
[[-0.99998416 -0.00399032 -0.00403661]
[ 0.00417594 -0.99888289 -0.04706242]
[-0.00384431 -0.04707852 0.99888357]]
T_rgb2dep
[[-0.01500822]
[ 0.00186882]
[-0.00211037]]
PCL出了一些问题，通过参考链接安装
编译
catkin_make -DXVSDK_INCLUDE_DIRS="/usr/include/xvsdk" -DXVSDK_LIBRARIES="/usr/lib/libxvsdk.so"
source devel/setup.bash
rosrun cloud2rgb cloud2rgb
投影出来的尺寸，感觉不太对
max:580,420
min:93,25
用了蛮久发现x,y的顺序搞错了
基本上问题解决了，相机的分辨率不太对，找技术聊了一下，应该是固件老了，后边更换固件之后再试试。