Turtlebot3-ARM入门教程-抓取挑战之树莓派相机标定

说明

• 本教程介绍如何进行树莓派相机的标定

相机参数设置

• [Remote PC] 远程打开摄像头

$ roslaunch turtlebot3_home_service_challenge_tools turtlebot3_pi_cam_remote.launch 

• [Remote PC] 启动 rqt_image_view 工具，在话题框上选择/raspicam_node/image/compressed 或者 /raspicam_node/image/话题

$ rqt_image_view

• [Remote PC] 启动 rqt_reconfigure 工具

$ rosrun rqt_reconfigure rqt_reconfigure

• 根据实际环境来调整参数，目的是让摄像头获取到更为明亮清晰的图像

• [Remote PC] 打开turtlebot3_home_service_challenge_tools/config/camera_calibration下的camera.yaml参数文件，并将调整好的参数替换进去

$ rosed turtlebot3_home_service_challenge_tools camera.yaml

 ISO: 400
 awb_mode: auto
 brightness: 50
 contrast: 0
 exposureCompensation: 0
 exposure_mode: auto
 hFlip: false
 saturation: 0
 sharpness: 0
 shutterSpeed: 0
 vFlip: false
 videoStabilisation: false
 zoom: 1.0

相机标定

• 下载棋盘格标定相片且以A４纸的格式打印出来：棋盘格标定相片下载链接

• 根据ROSWIKI的camera_calibration教程来进行标定

• [Remote PC] 远程启动摄像头

$ roslaunch turtlebot3_home_service_challenge_tools turtlebot3_pi_cam_remote.launch 

• [Remote PC] 启动标定程序

$ rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/raspicam_node/image camera:=/raspicam_node

• 移动和倾斜棋盘的左，右，上，下和不同的角度得到X，Y，Size和Skew校准数据

• 当获取足够多的校准数据时，X，Y，Size并且Skew将有一个绿色条

• 当拥有4个绿色条时，点击CALIBRATE

• 等待一会后点击Commit保存标定数据到树莓派下默认的~/.ros/camera_info文件中

• [Turtlebot SBC] 打开~/.ros/camera_info下的camerav2_1280x720.yaml文件

$ vim ~/.ros/camera_info/camerav2_1280x720.yaml

• 检查一下获取到的标定数据，其格式类似于一下内容

image_width: 1280
image_height: 720
camera_name: camerav2_1280x720
 camera_matrix:
 rows: 3
 cols: 3
 data: [1280.628466572832, 0, 658.384219880362, 0, 1277.989132765768, 360.8363923435625, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
 rows: 1
 cols: 5
 data: [0.2032697817127332, -0.4147569733010375, -0.001420915782245743, 0.003110652248245379, 0]
rectification_matrix:
 rows: 3
 cols: 3
 data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
 rows: 3
 cols: 4
 data: [1312.630981445312, 0, 661.4149459665205, 0, 0, 1312.107055664062, 360.0239481801327, 0, 0, 0, 1, 0]