随手笔记——ROS摄像头标定以及标定文件配置
说明
通过USB进行摄像头驱动,使用棋盘格对摄像头进行标定,将标定结果配置
方法步骤
1.安装标定功能包
sudo apt-get install ros-melodic-camera-calibration
2.启动摄像头 usb_camera.launch
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>
</launch>
3.启动功能包
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/camera/image_raw camera:=/camera
4.标定
根据要求标定即可
5.加载标定参数文件
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="1280" />
<param name="image_height" value="720" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
<param name="camera_info_url" type="string" value="file://$(find robot_cam)/camera_calibration.yaml" />
</node>
</launch>
注:
1.camera_info_url这个参数哪来的?如何知道应该配置这个参数呢?
参见http://wiki.ros.org/usb_cam#usb_cam_node
2.camera_calibration.yaml文件是标定结果文件
3.kinect配置哪几个参数?
参见https://wiki.ros.org/freenect_camera