ROS下单目和双目相机的标定

参考：http://wiki.ros.org/camera_calibration
ROS下相机标定

标定方法：
可以通过matlab，OpenCV，ROS三种方式进行相机标定。
ROS提供了camera_calibration Package：image_pipeline，通过这个Package可以使用棋盘标定板对单目和双目相机进行标定。

另外推荐一个标定工具Kalibr：Kalibr，可以实现Multiple camera calibration、Camera-IMU calibration、Rolling Shutter Camera calibration。

ROS官方提供了用于单目或者双目标定的camera_calibration包。这个包是使用opencv里的张正友标定法。

环境配置

1. 安装相机驱动 usb_cam

cd catkin_ws/src 
git clone https://github.com/bosch-ros-pkg/usb_cam.git 
cd .. 
catkin_make  

2. 安装编译image_pipeline包

cd catkin_ws/src  
git clone  https://github.com/ros-perception/image_pipeline.git  
cd ..  
rosdep install --from-paths src --ignore-src   # 安装image_pipeline 所需的依赖
catkin_make

编译报错：Project ‘eigen_conversion’ specifies ’ /usr/locate/eigen3’ as an include dir， which is not found.

解决：

sudo cp -r usr/locate/eigen3 usr/include

eigen3被默认安装到了usr/include里了（系统默认的路径）

1. 单目标定

本次标定用笔记本电脑自带的摄像头

启动相机

 roslaunch usb_cam usb_cam-test.launch

查看相机话题名称

用rostopic list命令查看
如下：

/usb_cam/camera_info
/usb_cam/image_raw

启动标定程序

rosrun camera_calibration cameracalibrator.py --size 6x7 --square 0.108 image:=/usb_cam/image_raw camera:=/usb_cam

此命令运行标定结点的python脚本，其中 ：
（1）–size 6x7 为当前标定板的大小
（2）–square 0.108为每个棋盘格的边长
（3）image:=/camera/image_raw标定当前订阅图像来源自名为/camera/image_raw的topic
（4）camera:=/camera为摄像机名，（即在/image_raw前面部分）
这将打开标定窗口，如图所示。
当calibration按钮亮起时，代表已经有足够的数据进行摄像头的标定，此时请按下calibration并等待一分钟左右。如图所示。

**** Calibrating ****
('D = ', [-0.05651230673613042, 0.05365333789734001, 0.011954617047270473, -0.007954085488820484, 0.0])
('K = ', [563.3143134843859, 0.0, 309.5068045388687, 0.0, 564.0055491490933, 241.35221521036223, 0.0, 0.0, 1.0])
('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
('P = ', [559.8577880859375, 0.0, 304.33687100739917, 0.0, 0.0, 561.94921875, 246.2792387874797, 0.0, 0.0, 0.0, 1.0, 0.0])
None
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo]

camera matrix
563.314313 0.000000 309.506805
0.000000 564.005549 241.352215
0.000000 0.000000 1.000000

distortion
-0.056512 0.053653 0.011955 -0.007954 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
559.857788 0.000000 304.336871 0.000000
0.000000 561.949219 246.279239 0.000000
0.000000 0.000000 1.000000 0.000000

When you click on the “Save” button after a succesfull calibration, the data (calibration data and images used for calibration) will be written to /tmp/calibrationdata.tar.gz.

2. 双目标定

使用小觅的双目摄像头

运行节点：

roslaunch mynt_eye_ros_wrapper mynteye.launch 

查看相机topic

rostopic list

如下：

/mynteye/right/image_raw
/mynteye/left/image_raw

启动标定程序

rosrun camera_calibration cameracalibrator.py --size 7x6 --square 0.108 --no-service-check --approximate=0.1 right:=/right/image_raw_color left:=/left/image_raw_color right_camera:=/mynteye/right 　　left_camera:=/mynteye/left

Left:
('D = ', [-0.3153135896494001, 0.08922897369815266, -0.0002901905072099891, 0.0013458912791125815, 0.0])
('K = ', [360.8622464893198, 0.0, 388.85768685450614, 0.0, 362.6297239043804, 266.69728029954047, 0.0, 0.0, 1.0])
('R = ', [0.8780352507831123, -0.47856253594806547, 0.005656639390464657, 0.47856253594806547, 0.8777728998218779, -0.022195394235022585, 0.005656639390464657, 0.022195394235022585, 0.9997376490387657])
('P = ', [1099.5137871406264, 0.0, 376.4960060119629, 0.0, 0.0, 1099.5137871406264, 271.408206820488, 0.0, 0.0, 0.0, 1.0, 0.0])

Right:
('D = ', [-0.3153135896494001, 0.08922897369815266, -0.0002901905072099891, 0.0013458912791125815, 0.0])
('K = ', [360.8622464893198, 0.0, 388.85768685450614, 0.0, 362.6297239043804, 266.69728029954047, 0.0, 0.0, 1.0])
('R = ', [0.8780352507831123, -0.47856253594806547, 0.005656639390464657, 0.47856253594806547, 0.8777728998218779, -0.022195394235022585, 0.005656639390464657, 0.022195394235022585, 0.9997376490387657])
('P = ', [1099.5137871406264, 0.0, 376.4960060119629, 0.0, 0.0, 1099.5137871406264, 271.408206820488, -4.2339274257936083e-10, 0.0, 0.0, 1.0, 0.0])
('self.T ', [-1.8428136778322234e-13, -3.380063804237598e-13, 8.546840383179693e-15])
('self.R ', [1.0, -9.875948024418507e-14, 9.330047922141889e-14, 9.875948024418507e-14, 1.0, 1.4596901161827484e-13, -9.330047922141889e-14, -1.4596901161827484e-13, 1.0])
None
# oST version 5.0 parameters


[image]

width
752

height
480

[narrow_stereo/left]

camera matrix
360.862246 0.000000 388.857687
0.000000 362.629724 266.697280
0.000000 0.000000 1.000000

distortion
-0.315314 0.089229 -0.000290 0.001346 0.000000

rectification
0.878035 -0.478563 0.005657
0.478563 0.877773 -0.022195
0.005657 0.022195 0.999738

projection
1099.513787 0.000000 376.496006 0.000000
0.000000 1099.513787 271.408207 0.000000
0.000000 0.000000 1.000000 0.000000

# oST version 5.0 parameters


[image]

width
752

height
480

[narrow_stereo/right]

camera matrix
360.862246 0.000000 388.857687
0.000000 362.629724 266.697280
0.000000 0.000000 1.000000

distortion
-0.315314 0.089229 -0.000290 0.001346 0.000000

rectification
0.878035 -0.478563 0.005657
0.478563 0.877773 -0.022195
0.005657 0.022195 0.999738

projection
1099.513787 0.000000 376.496006 0.000000
0.000000 1099.513787 271.408207 -0.000000
0.000000 0.000000 1.000000 0.000000

When you click on the “Save” button after a succesfull calibration, the data (calibration data and images used for calibration) will be written to /tmp/calibrationdata.tar.gz.