本文讲解利用ROS框架下的工具标定USB相机的过程。
利用IMU标定相机流程
驱动USB摄像头利用camera_calibration标定相机
执行命令为：
rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 9x6 --square 0.03 right:=/r_cam/image_raw left:=/l_cam/image_raw right_camera:=/r_cam left_camera:=/l_cam
参数
image_width: 320image_height: 240camera_matrix: rows: 3 cols: 3 data: [247.284755, 0.000000, 160.857882, 0.000000, 246.200449, 111.816057, 0.000000, 0.000000, 1.000000]distortion_coefficients: rows: 1 cols: 5 data: [-0.405110, 0.167545, -0.000400, -0.002129, 0.000000]rectification_matrix: rows: 3 cols: 3 data: [0.999530, -0.021547, 0.021827, 0.021830, 0.999680, -0.012768, -0.021545, 0.013239, 0.999680] projection_matrix: rows: 3 cols: 4 data: [227.343911, 0.000000, 160.318575, 0.000000, 0.000000, 227.343911, 109.066130, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
内参矩阵A：(cx,cy)为主光轴点,一般为图像的中心；fx和fy为焦距
畸变参数向量：[k1,k2,p1,p2]
camera matrix =[fx 0.0 cx0.0 fy cy0.0 0.0 1.0]
