lidar_camera_calib操作流程记录

lidar_camera_calib

1.安装

1.1相机内参标定工具camera_calibration

!!!这要根据相机驱动来看
安装usb_cam

git clone https ://github.com/ros-drivers/usb_cam

ls /dev/video*

一般笔记本电脑自带的摄像头id为0，外接的摄像头id为1,需要修改launch文件

安装camera_calibration

git clone https://github.com/ros-perception/image_pipeline.git

2.1lidar_camera_calibraton

其他工具ILCC、autoware.ai
ubuntu18.04
环境配置

sudo apt-get install -y python-catkin-tools python-catkin-pkg python-rosdep python-wstool ros-melodic-cv-bridge ros-melodic-image-transport
sudo apt-get install -y ros-melodic-nodelet-core ros-melodic-ddynamic-reconfigure
sudo apt-get install -y ros-melodic-velodyne-pointcloud

clone

cd ~/catkin_ws/src
git clone https://github.com/ankitdhall/lidar_camera_calibration.git

mv lidar_camera_calibration/dependencies/aruco_ros aruco_ros
mv lidar_camera_calibration/dependencies/aruco_mapping aruco_mapping

cd lidar_camera_calibration
git checkout melodic

build

cd ../..
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCATKIN_WHITELIST_PACKAGES="aruco;aruco_ros;aruco_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES="aruco_mapping;lidar_camera_calibration"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

！！！编译失败请参考https://github.com/ankitdhall/lidar_camera_calibration/wiki/Installation-ROS-Melodic-(Ubuntu-18.04)

2.使用

2.1相机内参

rosrun camera_calibration cameracalibrator.py --size 11x8 --square 0.05 image:=/usb_cam/image_raw camera:=/usb_cam

size 11x8 # 12x9的标定板，有11x8个十字交点
square 0.05 #每个正方形边长0.05m
image:=/usb_cam/image_raw #相机话题
camera:=/usb_cam #相机名称

为了达到良好的标定效果&#x