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One must be careful changing parameters for the camera, this is basically try and error. To see parameters as soon as v4l2_camera_node is running, enter `ros2 param list`. To set an array of pixel value output e.g. use `ros2 param set /v4l2_camera image_size "[1024, 768]"`
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For workaround, one could also navigate into the src folder of v4l2_camera package and change the default values in v4l2_camera.cpp |
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# Camera Calibration
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Run through the following example (with one exception below):
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https://navigation.ros.org/tutorials/docs/camera_calibration.html
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With a 10x7 chessboard (don't get confused, need to state inner corners in argument) run instead for the calibration
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```bash
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ros2 run camera_calibration cameracalibrator --size 6x9 --square 0.025 --no-service-check --ros-args --remap image:=/image_raw
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```
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This calibration procedure lead to the calibration file example_calibration.yaml which is currently under use.
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**Careful**: If you want to use another resolution, make sure to redo the calibration and create a calibration file with the corresponding resolution! The first two parameters in the calibration file must fit to the chosen resolution size in the v4l2_camera package.
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https://github.com/UbiquityRobotics/raspicam_node/blob/kinetic/camera_info/camerav2_1280x960.yaml --> Corresponds to example_calibration2.yml (If someone want to try out).
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Rename the default camera calibration file path if wanted in camera_info_manager.cpp of the image_common package. |
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\ No newline at end of file |