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