Xtion相机标定

Xtion相机标定

1.开发环境
1.1 Ubuntu14.04+ROS indigo
1.2 华硕Xtion Pro live相机
2.前期准备
2.1相关功能包的安装

• openni2_launch安装

$ sudo apt-get install ros-indigo-rgbd-launch ros-indigo-openni2-camera ros-indigo-openni2-launch

• 测试

新终端，执行roscore

$ roscore

新终端，执行openni2_launch

$ roslaunch openni2_launch openni2.launch

查看rgb、深度、点云

$ rosrun rviz rviz 

需要在riviz界面进一步操作：add camera、pointcloud2 选择正确的topic就可以实时看到xtion返回的数据了

• 安装标定用功能包

安装

 sudo apt install ros-kinetic-camera-calibration

启动openni2驱动

 roslaunch openni2_launch openni2.launch

进行校准，RGB相机

`rosrun camera_calibration cameracalibrator.py --size 8x6 -