ros下单目相机校正
1. 安装对应的驱动与程序包。
图像对应包 http://wiki.ros.org/camera_calibration 在gitbub下载image_pipeline ： https://github.com/ros-perception/image_pipeline
安装对应的驱动
1）uvc_camera ktossell/camera_umd
sudo apt-get install ros-indigo-xxxxx ( camera_umd jpeg_streamer uvc_camera )
2）usb_cam http://wiki.ros.org/usb_cam
bosch-ros-pkg/usb_cam
2. 相机校正的步骤
1） 启动相机 uvc_camera 或者 usb_cam
roslaunch usb_cam camera.launch (个人的 camera.launch) rviz 详细文件见后。（也能够自己先打开rviz 加入topic后保存，以后直接调用保存的.rviz就可以）
camera.launch
<launch>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find usb_cam)/launch/camera.rviz"/> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" respawn="false" output="log">
<param name="video_device" type="string" value="/dev/video0"/>
<param name="camera_frame_id" type="string" value="usb_cam"/>
<param name="framerate" type="int" value="30"/>
<param name="io_method" type="string" value="mmap"/>
<param name="image_width" type="int" value="640"/>
<param name="image_height" type="int" value="480"/>
<param name="pixel_format" type="string" value="yuyv"/>
</node>
</launch>
2） 启动校正程序
參见教程 http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
yhzhao@yhzhao:~$ rostopic list
/usb_cam/camera_info
/usb_cam/image_raw ################################
/usb_cam/image_raw/compressed
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressed/parameter_updates
/usb_cam/image_raw/compressedDepth
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0245 image:=/usb_cam/image_raw camera:=/camera
出错：例如以下
('Waiting for service', '/camera/set_camera_info', '...')
Service not found
执行例如以下语句： 角点数 棋盘格大小 topic映射
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0245 image:=/usb_cam/image_raw camera:=/camera --no-service-check
注意：校正採集的角点图像要多。数量达到一定效果时，calibration button会变亮，点击就可以进行校正运算。结果在终端有显示，也能够选择保存。
校正输出结果：
('D = ', [-0.1976212648687889, 0.1688022413942262, 0.0124442419926021, 0.005870906198680583, 0.0])
('K = ', [485.5897704187133, 0.0, 297.2537641560215, 0.0, 491.6813624489518, 296.2003190013238, 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 = ', [462.4408874511719, 0.0, 301.47298442859574, 0.0, 0.0, 469.7864074707031, 301.54598383033044, 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
485.589770 0.000000 297.253764
0.000000 491.681362 296.200319
0.000000 0.000000 1.000000
distortion
-0.197621 0.168802 0.012444 0.005871 0.000000
rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000
projection
462.440887 0.000000 301.472984 0.000000
0.000000 469.786407 301.545984 0.000000
0.000000 0.000000 1.000000 0.000000
3. 启动 ros 相机相应节点公布图像topic
carmera_haved_calibrated.launch
<launch>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find usb_cam)/launch/camera.rviz"/> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" respawn="false" output="log">
<param name="video_device" type="string" value="/dev/video0"/>
<param name="camera_frame_id" type="string" value="usb_cam"/>
<param name="io_method" type="string" value="mmap"/>
<param name="image_width" type="int" value="640"/>
<param name="image_height" type="int" value="480"/>
<param name="pixel_format" type="string" value="yuyv"/>
<rosparam param="D">[-0.1976212648687889, 0.1688022413942262, 0.0124442419926021, 0.005870906198680583, 0.0]</rosparam>
<rosparam param="K">[485.5897704187133, 0.0, 297.2537641560215, 0.0, 491.6813624489518, 296.2003190013238, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="R">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="P">[462.4408874511719, 0.0, 301.47298442859574, 0.0, 0.0, 469.7864074707031, 301.54598383033044, 0.0, 0.0, 0.0, 1.0, 0.0]</rosparam>
</node>
</launch>
------------------------------------------------------------附--------------------------------------------------------------------------------------------------------------------------------------
<pre name="code" class="html">$(find usb_cam)/launch/camera.rviz文件
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 144
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /usb_cam/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /slam/raw_flip_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /detect_qr/qr_img
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /slam/qrslam/slam_map
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 15.7352
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.825398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.5604
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 718
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000039d00000247fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc000000280000011f000000dd00fffffffa000000010100000002fb0000000a0049006d00610067006502000007ce000001680000073200000279fb000000100044006900730070006c00610079007301000000000000039d0000010f00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000014d000001220000001600ffffff000000010000037600000247fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000000b0000000b000fffffffb0000000a0049006d00610067006501000000de000000c60000001600fffffffb0000000a0049006d00610067006501000001aa000000c50000001600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000004b0000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003bfc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000000200000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 90
Y: 153
ros下单目相机校正的更多相关文章
- 基于OpenCV单目相机的快速标定--源码、工程、实现过程
相机的标定是所有人走进视觉世界需要做的第一件事,辣么多的视觉标定原理解释你可以随便在网上找到,这里只讲到底如何去实现,也算是给刚入门的朋友做个简单的分享. 1.单目相机标定的工程源码 首先请到同性交友 ...
- ROS与深度相机入门教程-在ROS使用kinect v1摄像头
ROS与深度相机入门教程-在ROS使用kinect v1摄像头 说明: 介绍在ros安装和使用kinect v1摄像头 介绍freenect包 安装驱动 deb安装 $ sudo apt-get in ...
- ROS标定IDS相机
参考 ROS 相机标定http://blog.csdn.net/ArtistA/article/details/51125560 ROS里的标定程序只要使用了OPNCV的标定程序: opencv 相机 ...
- matlab单目相机标定——标定步骤以及参数含义
参考博客园的一篇文章: https://www.cnblogs.com/flyinggod/p/8470407.html#commentform
- 双目相机标定以及立体测距原理及OpenCV实现
单目相机标定的目标是获取相机的内参和外参,内参(1/dx,1/dy,Cx,Cy,f)表征了相机的内部结构参数,外参是相机的旋转矩阵R和平移向量t.内参中dx和dy是相机单个感光单元芯片的长度和宽度,是 ...
- ZED 相机 && ORB-SLAM2安装环境配置与ROS下的调试
注:1. 对某些地方进行了更新(红色标注),以方便进行配置. 2. ZED ROS Wrapper官方github已经更新,根据描述新的Wrapper可能已经不适用与Ros Indigo了,如果大家想 ...
- ORB-SLAM2实现（kinect V1/ROS）
实验室电脑环境ubuntu14.04和ROS indigo已经装好. 1. 构建工作空间[非常重要的一步] mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catki ...
- 单目、双目和RGB-D视觉SLAM初始化比较
无论单目.双目还是RGB-D,首先是将从摄像头或者数据集中读入的图像封装成Frame类型对象: 首先都需要将彩色图像处理成灰度图像,继而将图片封装成帧. (1) 单目 mCurrentFrame = ...
- 三维重建：深度相机方案对比-KinectFusion的基本原理（尺度）
算法原理请参考此文: kinect fusion 3D重建基本算法 http://log.csdn.net/xiaohu50/article/details/51592503 三维重建为三维空间实 ...
随机推荐
- iOS开发--Mac下server搭建
前言 对于Mac电脑的认识.我一直停留在装B神器的意识上.就在前两天我彻底改变了庸俗的看法,当时忙着写毕业设计.苦于iOS开发没有server, 数据都是从网上抓取或本地plist文件,感觉不够高大上 ...
- java8 lambda 与 stream
参见:https://www.bilibili.com/video/av14372754/?p=2
- ES6 动态计算属性名
在ES5之前,如果属性名是个变量或者需要动态计算,则只能通过 对象.[变量名] 的方式去访问. <script type="text/javascript"> var ...
- mysqldumpslow命令
mysqldumpslow --help显示如下 Parse and summarize the MySQL slow query log. Options are --verbose verbose ...
- .NET CORE 2.0小白笔记（六）：
跟着大牛的视频看,基本看不懂了,简单捋一遍视频,有个印象行啦,撸代码自己摸索一下吧! 新建项目: 这里注意<身份验证> 生成完毕后,修改一下配置 到这里,要初始化一下数据库,否则启动之后会 ...
- Matlab中使用jython扩展功能
Matlab中面向对象能力并不强,通过使用jython引擎能够对其功能扩展. 1 编辑classpath.txt增加jython.jar 在matlab中输入 which classpath.txt ...
- Nginx访问日志和错误日志的拆分（Logstash）
>> from zhuhaiqing.info input { file { type =>> "nginx-access" path =>> ...
- swift - 实现类似今日头条顶部标签和底部内容的动态解决方案
TYPageView TYPageView 类似今日头条 的标签导航解决方案,支持多种样式选择,基于swift3.0,支持文字颜色动态变化,底部选中线的动态变化 配图: 使用方法: let title ...
- Apache中KeepAlive 配置
引子 先来分析一个Yslow 测试的一个页面的前端性能. 这里所有的请求是指http请求,对于一个请求各个阶段的划分,阻挡->域名解析->建立连接->发送请求->等待响应-&g ...
- left join,right join用法简介
方法一(推荐): select a.man_id,man_name,d.sex_name,zw_name,c.money from man as a left join zw as b on a.zw ...