Camera-Calibration-in-ROS

Prerequisites

• ROS:
  • https://wiki.ros.org/ROS/Installation
• Camera Calibration ROS Package:
  • sudo apt install ros-<ros1-distro>-camera-calibration
• Python: Python version 3.8 should be installed in a new environment in conda
  • conda create --name myenv python=3.8
  • conda activate myenv
  • python --version
• OpenCV: opencv version 4.2.0 should be installed on the created conda environment using conda command
  • conda install -c conda-forge opencv=4.2.0

Calibration Procedure

• Monocular
  • Step 1: Open terminal and run ROS core
    • roscore
  • Step 2: Open another terminal and start camera node
    • rosrun cv_camera cv_camera_node
  • Step 3: Run the camera calibration tool
    • rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.03 image:=/cv_camera/image_raw camera:=/cv_camera
• Stereo
  • Step 1: Open terminal and run ROS core
    • roscore
  • Step 2: Start camera nodes
    • Terminal 1: Start left camera node
      • rosrun cv_camera cv_camera_node _device_id:=2 _frame_id:=left_camera __name:=left_camera
    • Terminal 2: Start right camera node
      • rosrun cv_camera cv_camera_node _device_id:=3 _frame_id:=right_camera __name:=right_camera
  • Step 3: Run the camera calibration tool
    • rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 8x6 --square 0.03 right:=/right_camera/image_raw left:=/left_camera/image_raw right_camera:=/right_camera left_camera:=/left_camera