opencalib多传感器联合标定---lidar2camera

从bag包中提取图片数据

1    rosbag info xxx.bag

2    python bag-to-image.py

bag-to-image.py文件内容如下：

#coding:utf-8

import roslib;  
import rosbag
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError

path='/home/Data/camera2/' #存放图片的位置
class ImageCreator():

    def __init__(self):
        self.bridge = CvBridge()
        with rosbag.Bag('2024-06-07-14-14-46_0.bag', 'r') as bag:   #要读取的bag文件；
            for topic,msg,t in bag.read_messages():
                if topic == "/hik2/hik_cam_node/hik_camera2":  #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
                        except CvBridgeError as e:
                            print e
                        timestr = "%.6f" %  msg.header.stamp.to_sec()
                        #%.6f表示小数点后带有6位，可根据精确度需要修改；
                        image_name = timestr+ ".jpg" #图像命名：时间戳.jpg
                        cv2.imwrite(path+image_name, cv_image)  #保存；

if __name__ == '__main__':

    try:
        image_creator = ImageCreator()
    except rospy.ROSInterruptException:
        pass

从bag包中提取点云数据

1    roscore

2    rosrun pcl_ros bag_to_pcd 2024-06-07-14-14-46_0.bag /avia_3421/livox/lidar pointcloud
     ( rosrun pcl_ros bag_to_pcd <*.bag> <topic> <output_directory> )

bag数据流可视化

1    rqt_bag <bagname>

Opencalib工具箱标定

手动标定

1     cd ~./manual_calib/

2     ./bin/run_lidar2camera data/1.jpg data/1.pcd data/center_camera-intrinsic.json data/top_center_lidar-to-center_camera-extrinsic.json

手动调整点云和图像，使关键点位置重合

选择Save Image，自动保存图片与相关信息。