ros 相机标定

单目相机的标定

cameracalibrator.py subscribes to ROS raw image topics, and presents a calibration window. It can run in both monocular and stereo modes. The calibration window shows the current images from the cameras, highlighting the checkerboard. When the user presses the CALIBRATE button, the node computes the camera calibration parameters. When the user clicks COMMIT, the node uploads these new calibration parameters to the camera driver using a service call.

 

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/images_raw

stereo camera

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right

melodic

cameracalibrator.py supports the following options:

  Chessboard Options:
    You must specify one or more chessboards as pairs of --size and
    --square options.

    -p PATTERN, --pattern=PATTERN
                        calibration pattern to detect - 'chessboard',
                        'circles', 'acircles'
    -s SIZE, --size=SIZE
                        chessboard size as NxM, counting interior corners
                        (e.g. a standard chessboard is 7x7)
    -q SQUARE, --square=SQUARE
                        chessboard square size in meters

  ROS Communication Options:
    --approximate=APPROXIMATE
                        allow specified slop (in seconds) when pairing images
                        from unsynchronized stereo cameras
    --no-service-check  disable check for set_camera_info services at startup
    --queue-size=QUEUE_SIZE
                        image queue size (default 1, set to 0 for unlimited)

  Calibration Optimizer Options:
    --fix-principal-point
                        for pinhole, fix the principal point at the image
                        center
    --fix-aspect-ratio  for pinhole, enforce focal lengths (fx, fy) are equal
    --zero-tangent-dist
                        for pinhole, set tangential distortion coefficients
                        (p1, p2) to zero
    -k NUM_COEFFS, --k-coefficients=NUM_COEFFS
                        for pinhole, number of radial distortion coefficients
                        to use (up to 6, default 2)
    --fisheye-recompute-extrinsicsts
                        for fisheye, extrinsic will be recomputed after each
                        iteration of intrinsic optimization
    --fisheye-fix-skew  for fisheye, skew coefficient (alpha) is set to zero
                        and stay zero
    --fisheye-fix-principal-point
                        for fisheye,fix the principal point at the image
                        center
    --fisheye-k-coefficients=NUM_COEFFS
                        for fisheye, number of radial distortion coefficients
                        to use fixing to zero the rest (up to 4, default 4)
    --fisheye-check-conditions
                        for fisheye, the functions will check validity of
                        condition number
    --disable_calib_cb_fast_check
                        uses the CALIB_CB_FAST_CHECK flag for
                        findChessboardCorners
    --max-chessboard-speed=MAX_CHESSBOARD_SPEED
                        Do not use samples where the calibration pattern is
                        moving faster                      than this speed in
                        px/frame. Set to eg. 0.5 for rolling shutter cameras.

Camera Check

cameracheck.py subscribes to ROS rectified image topics and their associated camera_info, and prints out an error estimate. It can run in both monocular and stereo modes. The program expects to see a standard checkerboard target.

Subscribed Topics

monocular/image (sensor_msgs/Image)

• rectified image topic, for monocular cameras

monocular/camera_info (sensor_msgs/CameraInfo)

• camera info for the monocular camera

stereo/left/image (sensor_msgs/Image)

• rectified left image topic, for stereo cameras

stereo/right/image (sensor_msgs/Image)

• rectified right image topic, for stereo cameras

stereo/camera_info (sensor_msgs/CameraInfo)

• camera info for the stereo pair

rosrun camera_calibration cameracheck.py --size 8x6 monocular:=/forearm image:=image_rect

rosrun camera_calibration cameracheck.py --size 8x6 stereo:=/wide_stereo image:=image_rect