ros下单目相机校正

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2024-09-17 09:14:37 221人阅读

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="http://www.mamicode.com/dev/video0"/>
		<param name="camera_frame_id" type="string" value="http://www.mamicode.com/usb_cam"/>
		<param name="framerate" type="int" value="http://www.mamicode.com/30"/>
		<param name="io_method" type="string" value="http://www.mamicode.com/mmap"/>
		<param name="image_width" type="int" value="http://www.mamicode.com/640"/>
		<param name="image_height" type="int" value="http://www.mamicode.com/480"/>
		<param name="pixel_format" type="string" value="http://www.mamicode.com/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="http://www.mamicode.com/dev/video0"/>
		<param name="camera_frame_id" type="string" value="http://www.mamicode.com/usb_cam"/>
		<param name="io_method" type="string" value="http://www.mamicode.com/mmap"/>
		<param name="image_width" type="int" value="http://www.mamicode.com/640"/>
		<param name="image_height" type="int" value="http://www.mamicode.com/480"/>
		<param name="pixel_format" type="string" value="http://www.mamicode.com/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

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