小觅双目相机进行ROS标定

2023-05-16

安装image_pipeline包

使用ROS官方提供的 camera_calibration 包对双目相机进行标定

详情可见官网camera_calibration/Tutorials/StereoCalibration - ROS Wiki

一、准备工作：

系统环境：Ubuntu16.04
ROS版本：ros-kinetic
双目相机：小觅相机标准版s1030-IR
标定板：8×6

二、双目标定：

启动双目相机驱动：

roslaunch mynt_eye_ros_wrapper mynteye.launch

查看图像是否发布

rostopic list

/mynteye/left/camera_info
/mynteye/left/image_raw
/mynteye/left/image_raw/compressed
/mynteye/left/image_raw/compressed/parameter_descriptions
/mynteye/left/image_raw/compressed/parameter_updates
/mynteye/left/image_raw/theora
/mynteye/left/image_raw/theora/parameter_descriptions
/mynteye/left/image_raw/theora/parameter_updates
/mynteye/left_rect/camera_info
/mynteye/left_rect/image_rect
/mynteye/left_rect/image_rect/compressed
/mynteye/left_rect/image_rect/compressed/parameter_descriptions
/mynteye/left_rect/image_rect/compressed/parameter_updates
/mynteye/left_rect/image_rect/theora
/mynteye/left_rect/image_rect/theora/parameter_descriptions
/mynteye/left_rect/image_rect/theora/parameter_updates
/mynteye/points/data_raw
/mynteye/right/camera_info
/mynteye/right/image_raw
/mynteye/right/image_raw/compressed
/mynteye/right/image_raw/compressed/parameter_descriptions
/mynteye/right/image_raw/compressed/parameter_updates
/mynteye/right/image_raw/theora
/mynteye/right/image_raw/theora/parameter_descriptions
/mynteye/right/image_raw/theora/parameter_updates
/mynteye/right_rect/camera_info
/mynteye/right_rect/image_rect
/mynteye/right_rect/image_rect/compressed
/mynteye/right_rect/image_rect/compressed/parameter_descriptions
/mynteye/right_rect/image_rect/compressed/parameter_updates
/mynteye/right_rect/image_rect/theora
/mynteye/right_rect/image_rect/theora/parameter_descriptions
/mynteye/right_rect/image_rect/theora/parameter_updates
/mynteye/temperature/data_raw

安装image_pipeline包：

建议直接用ubuntu自带的火狐浏览器打开ros安装包网站下载自己系统的版本

http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-image-pipeline/http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-image-pipeline/

#安装 打开安装包下载文件夹，一般默认是Downloads文件夹
~/Downloads$ sudo dpkg -i ros-kinetic-image-pipeline_1.12.23-0xenial-20210503-161353-0800_amd64.deb

4. 启动标定程序

rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 8x6 --square 0.027 left:=/mynteye/left/image_raw right:=/mynteye/right/image_raw right_camera:=/mynteye/right left_camera:=/mynteye/left --no-service-check

square为打印标定板方格的长度 /m

左右上下，倾斜移动，直至上面的三个进度条拉满或者CALIBRATE按钮变绿，点击按钮进行计算，窗口变灰，等待计算结束，在命令行窗口会显示结果，点击save保存

默认保存在/tmp/calibrationdata.tar.gz路径下

后面就是进行多次标定，对数据取平均值

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