Turtlebot3自动驾驶2020入门教程-相机外标定

Turtlebot3自动驾驶2020入门教程-相机外标定

说明：

• 介绍如何进行树莓派摄像头的外标定

操作步骤

• [Remote PC] 新终端，启动roscore

$ roscore

• [TurtleBot SBC] 新终端，启动摄像头

$ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_camera_pi.launch

• [TurtleBot SBC] 新终端，启动action模式下的内标定

$ roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch mode:=action

• [Remote PC] 新终端，启动calibration模式下的外标定

$ roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch mode:=calibration

• [Remote PC] 新终端，打开rqt

$ rqt

• 左上角选择plugins -> visualization -> Image view 打开图像窗口

• 打开 图像窗口，选择topic：/camera/image_extrinsic_calib/compressed

• 打开 图像窗口，选择topic：/camera/image_projected_compensated

• [Remote PC] 新终端，打开参数配置

$ rosrun rqt_reconfigure rqt_reconfigure

• 调整参数值/camera/image_projection，/camera/image_compensation_projection

• 调整image_projection参数，会改变打开/camera/image_extrinsic_calib/compressed的图像窗口的红色方框的形状

• 效果图：

• [Remote PC] 新终端，把相应的参数值写入到PC上的turtlebot3_autorace_camera/calibration/extrinsic_calibration/文件里的projection.yaml文件

$ rosed turtlebot3_autorace_camera projection.yaml
---
camera:
  extrinsic_camera_calibration:
    top_x: 50
    top_y: 25
    bottom_x: 144
    bottom_y: 113

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=809152590&bvid=BV1X34y1C7At&cid=511653595&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>