记录一下使用ros进行单目相机标定的过程。

1. 运行usb_cam(需下载功能包，进行编译才可以使用)

roslaunch usb_cam usb_cam-test.launch

2.安装ros的标定功能包

sudo apt-get install ros-melodic-camera-calibration*

3.运行ros标定功能包

0.0375是指单个网格的大小，我的棋盘是3.75cm，/usb_cam/image_raw是订阅的图像，/usb_cam是相机的功能包名称

rosrun camera_calibration cameracalibrator.py-size 8x5 --square 0.0375 image:=/usb_cam/image_raw camera:=/usb_cam

4.标定结果：

camear matrix的含义为：813.2063是fx，810.540255是fy，312.0097是cx,246.07311是fy

distorition则分别是k1,k2,p1,p2,k3

[image]

width
640

height
480

[narrow_stereo]

camera matrix
813.206399 0.000000 312.009796
0.000000 810.540255 246.073111
0.000000 0.000000 1.000000

distortion
-0.059806 0.062233 0.002596 -0.001107 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
806.881714 0.000000 311.474214 0.000000
0.000000 806.509705 246.689813 0.000000
0.000000 0.000000 1.000000 0.000000