【环境配置】ROS GAZEBO相机雷达联合标定

1.相机内参标定

相机标定原理 用ROS camera_calibration 功能包 在gazebo中进行 相机校准
在仿真环境中用了不是深度相机,标定了半天完成不了,后来换成了Kenitic相机,标定完成了,最后感觉不太对,发现原链接棋盘大小不对,应该为0.02,虽然坑吧,但是还是得谢谢人家,hhh

rock@hero:~$ rosrun camera_calibration cameracalibrator.py --size 7x6 --square 0.01 image:=/kinect/rgb/image_raw  camera:=/kinect
Waiting for service /kinect/set_camera_info ...
OK
*** Added sample 1, p_x = 0.416, p_y = 0.287, p_size = 0.632, skew = 0.000
*** Added sample 2, p_x = 0.636, p_y = 0.287, p_size = 0.631, skew = 0.000
*** Added sample 3, p_x = 0.967, p_y = 0.533, p_size = 0.632, skew = 0.000
*** Added sample 4, p_x = 1.000, p_y = 0.336, p_size = 0.632, skew = 0.000
*** Added sample 5, p_x = 0.140, p_y = 0.051, p_size = 0.631, skew = 0.000
*** Added sample 6, p_x = 0.058, p_y = 0.317, p_size = 0.614, skew = 0.000
*** Added sample 7, p_x = 0.058, p_y = 0.530, p_size = 0.614, skew = 0.000
*** Added sample 8, p_x = 0.162, p_y = 0.419, p_size = 0.614, skew = 0.000
*** Added sample 9, p_x = 0.162, p_y = 0.752, p_size = 0.614, skew = 0.000
*** Added sample 10, p_x = 0.572, p_y = 0.831, p_size = 0.597, skew = 0.000
*** Added sample 11, p_x = 0.731, p_y = 0.695, p_size = 0.597, skew = 0.000
*** Added sample 12, p_x = 0.738, p_y = 0.634, p_size = 0.567, skew = 0.138
*** Added sample 13, p_x = 0.714, p_y = 0.652, p_size = 0.536, skew = 0.265
*** Added sample 14, p_x = 0.692, p_y = 0.679, p_size = 0.505, skew = 0.392
*** Added sample 15, p_x = 0.518, p_y = 0.632, p_size = 0.578, skew = 0.066
*** Added sample 16, p_x = 0.508, p_y = 0.659, p_size = 0.612, skew = 0.230
*** Added sample 17, p_x = 0.516, p_y = 0.684, p_size = 0.635, skew = 0.378
*** Added sample 18, p_x = 0.544, p_y = 0.709, p_size = 0.651, skew = 0.559
**** Calibrating ****
D = [-0.001359106644228369, 0.004608768712226826, -0.00010239479793051734, 0.0001286123634437729, 0.0]
K = [553.5592688456511, 0.0, 319.5581008054529, 0.0, 553.6202920004876, 239.53985609985486, 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 = [553.908447265625, 0.0, 319.64341818977846, 0.0, 0.0, 554.0052490234375, 239.48968404463812, 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
553.559269 0.000000 319.558101
0.000000 553.620292 239.539856
0.000000 0.000000 1.000000

distortion
-0.001359 0.004609 -0.000102 0.000129 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
553.908447 0.000000 319.643418 0.000000
0.000000 554.005249 239.489684 0.000000
0.000000 0.000000 1.000000 0.000000

**** Calibrating ****
D = [-0.001359106644228369, 0.004608768712226826, -0.00010239479793051734, 0.0001286123634437729, 0.0]
K = [553.5592688456511, 0.0, 319.5581008054529, 0.0, 553.6202920004876, 239.53985609985486, 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 = [553.908447265625, 0.0, 319.64341818977846, 0.0, 0.0, 554.0052490234375, 239.48968404463812, 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
553.559269 0.000000 319.558101
0.000000 553.620292 239.539856
0.000000 0.000000 1.000000

distortion
-0.001359 0.004609 -0.000102 0.000129 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
553.908447 0.000000 319.643418 0.000000
0.000000 554.005249 239.489684 0.000000
0.000000 0.000000 1.000000 0.000000

('Wrote calibration data to', '/tmp/calibrationdata.tar.gz')
('Wrote calibration data to', '/tmp/calibrationdata.tar.gz')
D = [-0.001359106644228369, 0.004608768712226826, -0.00010239479793051734, 0.0001286123634437729, 0.0]
K = [553.5592688456511, 0.0, 319.5581008054529, 0.0, 553.6202920004876, 239.53985609985486, 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 = [553.908447265625, 0.0, 319.64341818977846, 0.0, 0.0, 554.0052490234375, 239.48968404463812, 0.0, 0.0, 0.0, 1.0, 0.0]
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo]

camera matrix
553.559269 0.000000 319.558101
0.000000 553.620292 239.539856
0.000000 0.000000 1.000000

distortion
-0.001359 0.004609 -0.000102 0.000129 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
553.908447 0.000000 319.643418 0.000000
0.000000 554.005249 239.489684 0.000000
0.000000 0.000000 1.000000 0.000000

步骤大概就是原链接那样,先看文献吧,等开始需要跟雷达融合了,再回来重新标定.