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 -