ros下单目相机校正
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 /camera_umd sudo apt-get install ros-indigo-xxxxx ( camera_umd jpeg_streamer uvc_camera )
2）usb_cam http://wiki.ros.org/usb_cam /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
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0245 image:=/usb_cam/image_raw camera:=/camera
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
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 144
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /usb_cam/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /slam/raw_flip_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /detect_qr/qr_img
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /slam/qrslam/slam_map
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 15.7352
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.825398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.5604
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 718
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000039d00000247fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc000000280000011f000000dd00fffffffa000000010100000002fb0000000a0049006d00610067006502000007ce000001680000073200000279fb000000100044006900730070006c00610079007301000000000000039d0000010f00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000014d000001220000001600ffffff000000010000037600000247fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000000b0000000b000fffffffb0000000a0049006d00610067006501000000de000000c60000001600fffffffb0000000a0049006d00610067006501000001aa000000c50000001600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000004b0000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003bfc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000000200000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 90
Y: 153