[902]相机内参

标定

直接通过camera_calibration标定
[或通过matlab、opencv等标定都可，方法都比较简单，结果也差别不大]

rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.034 image:=/daheng_camera camera:=/camera  --no-service-check

7x5：为角点
0.034：为棋盘格边长
daheng_camera：为图像话题

大恒

[image]

width
646

height
482

[narrow_stereo]

camera matrix
829.625673 0.000000 366.691200
0.000000 826.577627 221.940387
0.000000 0.000000 1.000000

distortion
-0.034362 0.176460 -0.008610 0.014664 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
830.658386 0.000000 372.254637 0.000000
0.000000 833.524170 219.526409 0.000000
0.000000 0.000000 1.000000 0.000000

红外

[image]

width
640

height
480

[narrow_stereo]

camera matrix
1084.483722 0.000000 261.914719
0.000000 1084.774788 122.471240
0.000000 0.000000 1.000000

distortion
-0.490730 1.343766 0.030576 0.006576 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
1064.290649 0.000000 264.270062 0.000000
0.000000 1083.789062 124.521501 0.000000
0.000000 0.000000 1.000000 0.000000