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Camera Coordinate System:
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https://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT9/node2.html |
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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 |