When the CALIBRATE button lights, you have enough data for calibration and can click CALIBRATE to see the results.Īfter the calibration is complete you will see the calibration results in the terminal and the calibrated image in the calibration window: checkerboard tilted to the left, right, top and bottom (X,Y, and Size calibration)Īs you move the checkerboard around you will see three bars on the calibration sidebar increase in length.the checkerboard fills the entire field of view (Size calibration).the checkerboard is detected at various angles to the camera ("Skew").the checkerboard is detected at the top and bottom edges of the field of view (Y calibration).the checkerboard is detected at the left and right edges of the field of view (X calibration).In order to get a good calibration you will need to move the checkerboard around in the camera frame such that: Make sure that you hold the checkerboard horizontally (more checkers horizontally than vertically). Make sure the boards have different dimensions, so the calibration system can tell them apart. To use multiple checkerboards, give multiple -size and -square options for additional boards. Starting in Diamondback, you will be able to use multiple size checkerboards to calibrate a camera. This will open up the calibration window which will highlight the checkerboard, you will not see any images in the calibration window until a checkerboard is present: In this case, as long as the timestamp difference is less than 0.1 seconds, the calibrator will run with no problem. The -approximate option allows the camera calibrator to work with images that do not have the exact same timestamp. $ rosrun camera_calibration cameracalibrator.py -approximate 0.1 -size 8圆 -square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw right_camera:=/my_stereo/right left_camera:=/my_stereo/left To start the calibration you will need to load the image topics that will be calibrated: This will show you all the topics published, check to see that there is a left and right image_raw topic: Let's list the topics to check that the images are published: Make sure that your stereo camera is publishing left and right images over ROS. Start by getting the dependencies and compiling the driver. the 8圆 checkerboard contains 9x7 squares) NOTE: Checkerboard size refers to the number of internal corner, as described in the OpenCV documentation (i.e. a stereo camera publishing left and right images over ROS (if you want to use two independent cameras as a stereo camera, you must make sure the images have identical time stamps).
a well lit 5m x 5m area clear of obstructions and check board patterns.This tutorial uses a 8圆 checkerboard with 108mm squares A large checkerboard (8圆) or checkerboard (7圆) with known dimensions.
0 kommentar(er)
