{"id":6483,"date":"2022-06-27T23:59:13","date_gmt":"2022-06-27T15:59:13","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=6483"},"modified":"2022-06-29T23:20:04","modified_gmt":"2022-06-29T15:20:04","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9fros-%e6%91%84%e5%83%8f%e5%a4%b4%e6%a0%87%e5%ae%9a","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=6483","title":{"rendered":"\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edfROS\u2014\u6444\u50cf\u5934\u6807\u5b9a"},"content":{"rendered":"<p>\u6700\u8fd1\u4f7f\u7528\u6444\u50cf\u5934\u505a\u4e09\u7ef4\u91cd\u5efa\u548c\u6fc0\u5149\u96f7\u8fbe\u8054\u5408\u5efa\u56fe\uff0c\u53d1\u73b0\u6444\u50cf\u5934\u6240\u8fd8\u539f\u7684\u4e09\u7ef4\u70b9\u4e91\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7684\u70b9\u4e91\u5728\u4e0d\u5c11\u4f4d\u7f6e\u5b58\u5728\u660e\u663e\u504f\u5dee\u3002\u4f7f\u7528\u4e24\u4e2a\u70b9\u4e91\u6784\u5efa\u7684\u5730\u56fe\u8fdb\u884c\u5bfc\u822a\u5bf9\u6bd4\uff0c\u8fd8\u662f\u6fc0\u5149\u96f7\u8fbe\u7684\u66f4\u52a0\u7cbe\u51c6\uff0c\u6b64\u65f6\u5f88\u6709\u53ef\u80fd\u662f\u6444\u50cf\u5934\u7684\u6807\u5b9a\u4e0d\u7cbe\u51c6\u5bfc\u81f4\u7684\uff0c\u672c\u6587\u5c31\u4e3b\u8981\u8bb2\u4e0b\u5982\u4f55\u5bf9\u6444\u50cf\u5934\u8fdb\u884c\u6807\u5b9a\u3002<\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<p>\u6444\u50cf\u5934\u8fd9\u79cd\u7cbe\u5bc6\u4eea\u5668\u5bf9\u5149\u5b66\u5668\u4ef6\u7684\u8981\u6c42\u8f83\u9ad8\uff0c\u7531\u4e8e\u6444\u50cf\u5934\u5185\u90e8\u4e0e\u5916\u90e8\u7684\u4e00\u4e9b\u539f\u56e0\uff0c\u751f\u6210\u7684\u7269\u4f53\u56fe\u50cf\u5f80\u5f80\u4f1a\u53d1\u751f\u7578\u53d8\uff0c\u4e3a\u4e86\u907f\u514d\u6570\u636e\u6e90\u9020\u6210\u7684\u8bef\u5dee\uff0c\u9700\u8981\u9488\u5bf9\u6444\u50cf\u5934\u7684\u53c2\u6570\u8fdb\u884c\u6807\u5b9a\u3002<\/p>\n<p>\u6807\u5b9a\u7684\u53c2\u6570\u4e3b\u8981\u5206\u4ee5\u4e0b\u4e09\u90e8\u5206\uff1a<\/p>\n<ul>\n<li>\u955c\u5934\u7578\u53d8<\/li>\n<li>\u76f8\u673a\u5185\u53c2<\/li>\n<li>\u76f8\u673a\u5916\u53c2<\/li>\n<\/ul>\n<h3>1.\u7578\u53d8\u7cfb\u6570<\/h3>\n<p>\u7578\u53d8\u53ef\u5206\u4e3a\u4e24\u79cd\uff0c\u5206\u522b\u662f\u5207\u5411\u7578\u53d8\u548c\u5f84\u5411\u7578\u53d8\u3002<\/p>\n<p>\u5f84\u5411\u7578\u53d8\u7684\u4ea7\u751f\u662f\u7531\u4e8e\u5f53\u5149\u7ebf\u5728\u8fdc\u79bb\u900f\u955c\u4e2d\u5fc3\u65f6\uff0c\u5176\u5f2f\u66f2\u7a0b\u5ea6\u6bd4\u9760\u8fd1\u4e2d\u5fc3\u65f6\u66f4\u5927\uff0c\u5f84\u5411\u7578\u53d8\u6709\u6876\u5f62\u7578\u53d8\u548c\u6795\u5f62\u7578\u53d8\u4e24\u79cd\uff0c\u5206\u522b\u5982\u4e0b\u56fe\u4e2d\u7684\u7b2c\u4e8c\u5f20\u548c\u7b2c\u4e09\u5f20\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/radial-distortion.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6513\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/radial-distortion.png\" alt=\"\" width=\"921\" height=\"350\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/radial-distortion.png 921w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/radial-distortion-300x114.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/radial-distortion-768x292.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/radial-distortion-624x237.png 624w\" sizes=\"(max-width: 921px) 100vw, 921px\" \/><\/a><\/p>\n<p>\u5207\u5411\u7578\u53d8\u662f\u7531\u4e8e\u900f\u955c\u4e0e\u56fe\u50cf\u4e0d\u5b8c\u5168\u5e73\u884c\u800c\u4ea7\u751f\uff0c\u5982\u4e0b\u56fe:<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/distortion.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6499\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/distortion.png\" alt=\"\" width=\"374\" height=\"178\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/distortion.png 374w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/distortion-300x143.png 300w\" sizes=\"(max-width: 374px) 100vw, 374px\" \/><\/a><\/p>\n<p>\u7578\u53d8\u7cfb\u7edf\u4e0d\u53d7\u76f8\u673a\u62cd\u6444\u7684\u5206\u8fa8\u7387\u548c\u5176\u4ed6\u56e0\u7d20\u5f71\u54cd\uff0c\u65f6\u76f8\u673a\u672c\u8eab\u7684\u56fa\u6709\u5c5e\u6027\u3002\u6839\u636eOpenCV\u7684\u6587\u6863\uff0c\u7578\u53d8\u53ef\u5f52\u7eb3\u5982\u4e0b\uff0ck1,k2,k3,k4,k5,k6\u5f84\u5411\u7578\u53d8\u7cfb\u6570\uff0cp1,p2\u662f\u5207\u5411\u7578\u53d8\u7cfb\u6570\uff1a<\/p>\n<p style=\"text-align: center;\">(k1,k2,p1,p2[,k3[,k4,k5,k6]])<\/p>\n<h3>2.\u76f8\u673a\u5185\u53c2<\/h3>\n<p>\u76f8\u673a\u5185\u53c2\u4e0e\u955c\u5934\u672c\u8eab\u7684\u7126\u8ddd\u7b49\u76f8\u5173\uff0c\u4e3a\u6444\u50cf\u673a\u672c\u8eab\u7279\u6027\uff0c\u53ef\u901a\u8fc7\u516d\u4e2a\u53c2\u6570\u8868\u793a\u4e3a\uff1a1\/dx\u30011\/dy\u3001s\u3001u0\u3001v0\u3001f\u3002<\/p>\n<p>dx\u548cdy\u8868\u793ax\u65b9\u5411\u548cy\u65b9\u5411\u7684\u4e00\u4e2a\u50cf\u7d20\u5206\u522b\u5360\u591a\u5c11\u957f\u5ea6\u5355\u4f4d\uff0c\u5373\u4e00\u4e2a\u50cf\u7d20\u4ee3\u8868\u7684\u5b9e\u9645\u7269\u7406\u503c\u7684\u5927\u5c0f\uff1bu0\uff0cv0\u8868\u793a\u56fe\u50cf\u7684\u4e2d\u5fc3\u50cf\u7d20\u5750\u6807\u548c\u56fe\u50cf\u539f\u70b9\u50cf\u7d20\u5750\u6807\u4e4b\u95f4\u76f8\u5dee\u7684\u6a2a\u5411\u548c\u7eb5\u5411\u50cf\u7d20\u6570\uff1bf\u4e3a\u7126\u8ddd\uff1bs\u4e3a\u5750\u6807\u8f74\u503e\u659c\u53c2\u6570\u3002<\/p>\n<p>\u5728opencv\u6587\u6863\u91cc\u5185\u53c2\u6570\u5171\u56db\u4e2a\u4e3afx\u3001fy\u3001u0\u3001v0\u3002\u5176\u4e2dfx=f*(1\/dx)\uff0cfy=f*(1\/dy)\uff0cs\u5047\u8bbe\u4e3a0\uff0c\u56e0\u6b64\u4e3a4\u4e2a\u5185\u53c2<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camera-intrinsics.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6503\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camera-intrinsics.png\" alt=\"\" width=\"134\" height=\"102\" \/><\/a><\/p>\n<p>fx\uff0cfy\u4e3a\u7126\u8ddd\uff0c\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u4e8c\u8005\u76f8\u7b49\uff0ccx\u3001cy\u4e3a\u4e3b\u70b9\u5750\u6807\uff08\u76f8\u5bf9\u4e8e\u6210\u50cf\u5e73\u9762\uff09\u3002<\/p>\n<blockquote><p>\u7126\u8ddd\u662f\u5149\u5b66\u7cfb\u7edf\u4e2d\u8861\u91cf\u5149\u7684\u805a\u96c6\u6216\u53d1\u6563\u7684\u5ea6\u91cf\u65b9\u5f0f\uff0c\u6307\u5e73\u884c\u5149\u5165\u5c04\u65f6\u4ece\u900f\u955c\u5149\u5fc3\u5230\u5149\u805a\u96c6\u4e4b\u7126\u70b9\u7684\u8ddd\u79bb\u3002\u4ea6\u662f\u7167\u76f8\u673a\u4e2d\uff0c\u4ece\u955c\u7247\u4e2d\u5fc3\u5230\u5e95\u7247\u6216CCD\u7b49\u6210\u50cf\u5e73\u9762\u7684\u8ddd\u79bb\u3002\u5177\u6709\u77ed\u7126\u8ddd\u7684\u5149\u5b66\u7cfb\u7edf\u6bd4\u957f\u7126\u8ddd\u7684\u5149\u5b66\u7cfb\u7edf\u6709\u66f4\u4f73\u805a\u96c6\u5149\u7684\u80fd\u529b\u3002\u7b80\u5355\u7684\u8bf4\u7126\u8ddd\u662f\u7126\u70b9\u5230\u9762\u955c\u7684\u4e2d\u5fc3\u70b9\u4e4b\u95f4\u7684\u8ddd\u79bb\u3002<\/p><\/blockquote>\n<h3>3.\u76f8\u673a\u5916\u53c2<\/h3>\n<p>\u76f8\u673a\u5916\u53c2\u77e9\u9635\u63cf\u8ff0\u7684\u662f\u76f8\u673a\u5728\u9759\u6001\u573a\u666f\u4e0b\u76f8\u673a\u7684\u8fd0\u52a8\uff0c\u5305\u62ec\u65cb\u8f6c\u548c\u5e73\u79fb\uff0c\u6216\u8005\u5728\u76f8\u673a\u56fa\u5b9a\u65f6\uff0c\u8fd0\u52a8\u7269\u4f53\u7684\u521a\u6027\u8fd0\u52a8\u3002<\/p>\n<p>\u76f8\u673a\u5750\u6807\u7cfb\u7684\u4e09\u4e2a\u8f74\u7684\u65cb\u8f6c\u53c2\u6570\u5206\u522b\u4e3a\uff08\u03c9\u3001\u03b4\u3001 \u03b8\uff09,\u7136\u540e\u628a\u6bcf\u4e2a\u8f74\u76843*3\u65cb\u8f6c\u77e9\u9635\u8fdb\u884c\u7ec4\u5408\uff08\u5373\u5148\u77e9\u9635\u4e4b\u95f4\u76f8\u4e58\uff09\uff0c\u5f97\u5230\u65cb\u8f6c\u77e9\u9635R\uff0c\u5176\u5927\u5c0f\u4e3a3*3\uff1bT\u7684\u4e09\u4e2a\u8f74\u7684\u5e73\u79fb\u53c2\u6570\uff08Tx\u3001Ty\u3001Tz\uff09\u3002R\u3001T\u7ec4\u5408\u6210\u6210\u76843*4\u7684\u77e9\u9635\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camera-extrinsics.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6504\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camera-extrinsics.png\" alt=\"\" width=\"187\" height=\"94\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>4.\u603b\u7ed3<\/h3>\n<p>\u6807\u5b9a\u53c2\u6570\u793a\u4f8b\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camare_params.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6511\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camare_params.png\" alt=\"\" width=\"489\" height=\"355\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camare_params.png 489w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/camare_params-300x218.png 300w\" sizes=\"(max-width: 489px) 100vw, 489px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001\u51c6\u5907\u5de5\u4f5c<\/h1>\n<h3>1.\u5b89\u88c5\u6444\u50cf\u5934\u6807\u5b9a\u529f\u80fd\u5305<\/h3>\n<p>ROS\u5b98\u65b9\u63d0\u4f9b\u4e86\u7528\u4e8e\u53cc\u76ee\u548c\u5355\u76ee\u6444\u50cf\u5934\u6807\u5b9a\u7684\u529f\u80fd\u5305\u2014\u2014camera_calibration\uff0c\u6211\u4eec\u4f7f\u7528\u8fd9\u4e2a\u5305\u8fdb\u884c\u6d4b\u8bd5\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">sudo apt install ros-melodic-camera-calibration <\/code><\/pre>\n<h3>2.\u6253\u5370\u6807\u5b9a\u677f<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-scaled.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6495\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-1024x815.jpg\" alt=\"\" width=\"625\" height=\"497\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-1024x815.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-300x239.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-768x611.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-1536x1222.jpg 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-2048x1629.jpg 2048w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024-624x496.jpg 624w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p style=\"text-align: center;\">8x6x0.024\u68cb\u76d8\u683c\u6807\u5b9a\u677f<\/p>\n<p>\u68cb\u76d8\u683c\u53c2\u6570\uff1a<\/p>\n<ul>\n<li>size\uff1a8&#215;6\u662f\u6307\u6a2a\/\u7eb5\u5411\u683c\u95f4\u5341\u5b57\u89d2\u70b9\u7684\u6570\u91cf\uff0c\u800c\u4e0d\u662f\u683c\u7684\u6570\u91cf\uff1b<\/li>\n<li>square\uff1a0.024\u662f\u6bcf\u683c\u7684\u8fb9\u957f\uff0c\u5355\u4f4dm\uff1b\uff08\u5982\u679c\u7528\u975eA4\u7eb8\u6253\u5370\uff0c\u9700\u8981\u91cd\u65b0\u91cf\u4e00\u4e0b\u8fb9\u957f\uff0c\u4f8b\u5982\u8fd9\u4e2a\u793a\u4f8b\u6807\u5b9a\u677f\u6253\u5370\u5728A3\u7eb8\u4e0a\u8fb9\u957f\u662f0.035m\uff09<\/li>\n<\/ul>\n<p>\u4e0d\u540c\u89c4\u683c\u7684\u68cb\u76d8\u683c\u6807\u5b9a\u677f\uff1a<\/p>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/checkerboard8x6x0.024.pdf\">checkerboard8x6x0.024<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/chess9x11x0.02.pdf\">chess9x11x0.02<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/chess7x9x0.025.pdf\">chess7x9x0.025<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/chess5x7x0.03.pdf\">chess5x7x0.03<\/a><\/li>\n<\/ul>\n<p>\u5c06\u4e0a\u65b9\u4e0d\u540c\u89c4\u683c\u7684\u68cb\u76d8\u683c\u6253\u5370\u51fa\u6765\uff0c\u8d34\u5230\u786c\u7eb8\u677f\u4e0a\u5907\u7528\u3002<\/p>\n<p>\u6807\u5b9a\u677f\u9009\u62e9\uff1a<\/p>\n<ul>\n<li>\u786c\u7eb8\u677f\u9700\u8981\u5e73\u9762\u5ea6\u9ad8\uff0c\u52a0\u5de5\u7cbe\u5ea6\u9ad8\uff0c\u4e0d\u53cd\u5149\uff1b<\/li>\n<li>\u6807\u5b9a\u677f\u4e0d\u662f\u8d8a\u5927\u8d8a\u597d\uff0c\u8f83\u5927\u65f6\u7cbe\u5ea6\u4e0d\u5bb9\u6613\u4fdd\u8bc1\uff1b<\/li>\n<li>\u5c3d\u91cf\u9009\u62e9\u89d2\u70b9\u4e2a\u6570\u4e0d\u591a\uff0c\u9762\u8bd5\u4e0d\u662f\u5f88\u5927\u7684\u6807\u5b9a\u677f\uff0c\u4e00\u822c\u5efa\u8bae1\u7c73\u4ee5\u5185\uff1b<\/li>\n<li>\u5982\u679c\u9891\u7e41\u56e0\u4e3a\u68cb\u76d8\u683c\u67d0\u4e2a\u89d2\u70b9\u88ab\u5e72\u6270\u5bfc\u81f4\u6574\u5757\u677f\u68c0\u6d4b\u4e0d\u5230\uff0c\u63a8\u8350\u4f7f\u7528AprilTag\u4e8c\u7ef4\u7801\u8fdb\u884c\u68c0\u6d4b\uff0c\u89d2\u70b9\u7cbe\u5ea6\u9ad8\uff0c\u53ef\u4ee5\u51cf\u5c11\u73af\u5883\u5e72\u6270\uff1b<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>\u4e09\u3001\u5f00\u59cb\u6807\u5b9a<\/h1>\n<h3>1.\u6807\u5b9a\u6444\u50cf\u5934<\/h3>\n<h5>1.1.\u542f\u52a8\u6807\u5b9a\u7a0b\u5e8f<\/h5>\n<p>\u63a8\u8350\u65b9\u6cd5\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># vslam code\r\ncd ~\/catkin_ws\/src\r\ngit clone git@github.com:yanjingang\/robot_vslam.git\r\ncd .. \r\ncatkin_make \r\n\r\n# \u542f\u52a8\u6444\u50cf\u5934\r\nroslaunch robot_vslam astrapro.launch\r\n\r\n# \u542f\u52a8\u6807\u5b9a\u7a0b\u5e8f\uff08size\/square\uff1a\u6807\u5b9a\u677f\u89d2\u70b9\u6570\u91cf\u548c\u8fb9\u957f\uff1bimage\/camera\uff1a\u8bbe\u7f6e\u6444\u50cf\u5934\u53d1\u5e03\u7684\u56fe\u50cftopic\/service\uff09 \r\nrosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=<span style=\"color: #ff0000;\">\/camera\/rgb\/image_raw<\/span> camera:=<span style=\"color: #ff0000;\">\/camera\/rgb<\/span>\r\n*\u6ce8\uff1acamera\u53c2\u6570\u7684\u67e5\u627e\u65b9\u6cd5\uff1a rosservice list|grep set_camera_info \uff0c\u7136\u540e\u53d6\/set_camera_info\u524d\u7684\u90e8\u5206\u5373\u53ef<\/code><\/pre>\n<p>\u5b98\u65b9\u65b9\u6cd5\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># usb cam code\r\nsudo apt install ros-melodic-image-view ros-melodic-freenect-*\r\ncd ~\/catkin_ws\/src\r\ngit clone git@github.com:ros-drivers\/usb_cam.git\r\ncd .. \r\ncatkin_make \r\n\r\n# \u542f\u52a8usb\u6444\u50cf\u5934 \r\nroslaunch usb_cam usb_cam-test.launch\r\n\r\n# \u542f\u52a8\u6807\u5b9a\u7a0b\u5e8f\uff08size\/square\uff1a\u6807\u5b9a\u677f\u89d2\u70b9\u6570\u91cf\u548c\u8fb9\u957f\uff1bimage\/camera\uff1a\u8bbe\u7f6e\u6444\u50cf\u5934\u53d1\u5e03\u7684\u56fe\u50cftopic\/service\uff09 \r\nrosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=\/usb_cam\/image_raw camera:=\/usb_cam<\/code><\/pre>\n<h5>1.2.\u5f00\u59cb\u6807\u5b9a<\/h5>\n<p>\u5c06\u6807\u5b9a\u677f\u653e\u5230\u6444\u50cf\u5934\u89c6\u91ce\u8303\u56f4\u5185\uff0c\u4e3a\u4e86\u63d0\u9ad8\u51c6\u786e\u6027\uff0c\u5e94\u5c3d\u91cf\u8ba9\u6807\u5b9a\u7248\u5728\u6444\u50cf\u5934\u89c6\u91ce\u5185\u5de6\u53f3\u3001\u4e0a\u4e0b\u3001\u524d\u540e\u3001\u503e\u659c\u8fd0\u52a8\uff0c\u76f4\u5230CALIBRATE\u6309\u94ae\u53d8\u8272\uff0c\u8868\u793a\u6807\u5b9a\u7a0b\u5e8f\u7684\u53c2\u6570\u91c7\u96c6\u5b8c\u6210\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/rgb-camera-calibration.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6527\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/rgb-camera-calibration.png\" alt=\"\" width=\"738\" height=\"608\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/rgb-camera-calibration.png 738w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/rgb-camera-calibration-300x247.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/rgb-camera-calibration-624x514.png 624w\" sizes=\"(max-width: 738px) 100vw, 738px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u5982\u679c\u7528\u4e8e\u73af\u89c6\u76f8\u673a\u6807\u5b9a\uff0c\u76f8\u673a\u95f4\u7684\u6807\u5b9a\u7cbe\u5ea6\u5f88\u91cd\u8981\uff0c\u4f1a\u5f71\u54cd\u73af\u89c6\u62fc\u63a5\u6548\u679c\uff0c\u56e0\u6b64\u6807\u5b9a\u677f\u56e0\u5904\u4e8e\u4e24\u4e2a\u76f8\u673a\u7684\u5171\u89c6\u533a\u57df\uff1b<\/p>\n<p>CALIBRATE\u6309\u94ae\u53d8\u8272\u540e\uff0c\u70b9\u51fbCALIBRATE\u6309\u94ae\uff0c\u6807\u5b9a\u7a0b\u5e8f\u5c06\u81ea\u52a8\u8ba1\u7b97\u6444\u50cf\u5934\u7684\u6807\u5b9a\u53c2\u6570\uff0c\u8ba1\u7b97\u9700\u8981\u4e00\u5b9a\u65f6\u95f4\uff0c\u6b64\u65f6\u7ec8\u7aef\u5c06\u663e\u793a\u201c**** Calibrating ****\u201d\u6807\u5b9a\u4e2d\uff0c\u51fa\u7ed3\u679c\u524d\u522b\u5173\u95ed\u7a97\u53e3\u3002<\/p>\n<p>\u53c2\u6570\u8ba1\u7b97\u5b8c\u6210\u540e\u4f1a\u5728\u7ec8\u7aef\u663e\u793a\u6807\u5b9a\u7ed3\u679c\uff0c\u70b9\u51fbSAVE\u6309\u94ae\u4fdd\u5b58\u6807\u5b9a\u6587\u4ef6\u5305\uff0c\u89e3\u538b\u6807\u5b9a\u6587\u4ef6\u5305\uff0c\u4f7f\u7528\u91cc\u8fb9\u7684ost.yaml\u6587\u4ef6\u5373\u53ef\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6529\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit-1024x811.png\" alt=\"\" width=\"625\" height=\"495\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit-1024x811.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit-300x238.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit-768x608.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit-624x494.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-done-save-commit.png 1184w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>3.\u6807\u5b9a\u53cc\u76ee\u6444\u50cf\u5934<\/h3>\n<p>\u9664\u4e86RGB\u6444\u50cf\u5934\uff0c\u53cc\u76ee\u76f8\u673a\u4e00\u822c\u8fd8\u6709\u4e00\u4e2a\u7ea2\u5916\u6df1\u5ea6\u6444\u50cf\u5934\uff0c\u4e24\u4e2a\u6444\u50cf\u5934\u9700\u8981\u5355\u72ec\u6807\u5b9a\uff0c\u6807\u5b9a\u65b9\u6cd5\u540c\u4e0a\uff0c\u53ea\u662ftopic\u4e0d\u540c\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u6444\u50cf\u5934\r\nroslaunch robot_vslam astrapro.launch\r\n\r\n# \u542f\u52a8\u6807\u5b9a\u7a0b\u5e8f\uff08size\/square\uff1a\u6807\u5b9a\u677f\u89d2\u70b9\u6570\u91cf\u548c\u8fb9\u957f\uff1bimage\/camera\uff1a\u8bbe\u7f6e\u6444\u50cf\u5934\u53d1\u5e03\u7684\u56fe\u50cf\u8bdd\u9898\uff09 \r\n# RGB\u6444\u50cf\u5934\r\nrosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=<span style=\"color: #ff0000;\">\/camera\/rgb\/image_raw<\/span> camera:=<span style=\"color: #ff0000;\">\/camera\/rgb<\/span>\r\n# \u7ea2\u5916\u6df1\u5ea6\u6444\u50cf\u5934\r\nrosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=<span style=\"color: #ff0000;\">\/camera\/ir\/image<\/span> camera:=<span style=\"color: #ff0000;\">\/camera\/ir<\/span><\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/ir-camera-calibration.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6544\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/ir-camera-calibration.png\" alt=\"\" width=\"1000\" height=\"845\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/ir-camera-calibration.png 1000w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/ir-camera-calibration-300x254.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/ir-camera-calibration-768x649.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/ir-camera-calibration-624x527.png 624w\" sizes=\"(max-width: 1000px) 100vw, 1000px\" \/><\/a><\/p>\n<h3>4.\u52a0\u8f7d\u6807\u5b9a\u6587\u4ef6<\/h3>\n<p>\u5c06rgb\u548cir\u6444\u50cf\u5934\u7684\u6807\u5b9a\u6587\u4ef6copy\u5230robot_vslam\/<span style=\"font-size: 1rem;\">config\/astrapro\/\u76ee\u5f55\u4e0b\uff0c\u7136\u540e<\/span>\u4fee\u6539vslam\u7684\u6807\u5b9a\u6587\u4ef6\u53c2\u6570\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">vim robot_vslam\/launch\/camera\/astrapro.launch\r\n  &lt;arg name=\"rgb_camera_info_url\"   default=\"file:\/\/$(find robot_vslam)\/config\/astrapro\/camera_640.yaml\" \/&gt;\r\n  &lt;arg name=\"depth_camera_info_url\" default=\"file:\/\/$(find robot_vslam)\/config\/astrapro\/depth_640.yaml\" \/&gt;<\/code><\/pre>\n<p>\u91cd\u65b0\u542f\u52a8vslam\u67e5\u770b\u6548\u679c\u5373\u53ef\u3002<\/p>\n<p>*\u6ce8\uff1a\u5982\u679c\u76f4\u63a5\u4f7f\u7528robot_vslam astrapro.launch\u542f\u52a8\u6444\u50cf\u5934\uff0c\u56e0\u4e3a\u91cc\u8fb9\u5df2\u7ecf\u914d\u7f6e\u4e86\u6807\u5b9a\u6587\u4ef6\uff0c\u6240\u4ee5\u91cd\u65b0\u6807\u5b9a\u540e\u5c06\u4f1a\u81ea\u52a8\u8986\u76d6\u914d\u7f6e\u7684\u539f\u6807\u5b9a\u6587\u4ef6\uff0c\u4e0d\u9700\u8981\u518d\u624b\u52a8copy\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u56db\u3001\u6548\u679c\u5bf9\u6bd4<\/h1>\n<p>\u6807\u5b9a\u524d\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6507\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before-1024x584.png\" alt=\"\" width=\"625\" height=\"356\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before-1024x584.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before-300x171.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before-768x438.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before-624x356.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-before.png 1299w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u6807\u5b9a\u540e\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6508\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after-1024x592.png\" alt=\"\" width=\"625\" height=\"361\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after-1024x592.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after-300x174.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after-768x444.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after-624x361.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/06\/calibration-after.png 1298w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>yan 22.6.27<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/weixin_41866783\/article\/details\/119632574\" target=\"_blank\" rel=\"noopener\">AprilTag_ros\u5305\u7684\u4f7f\u7528<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6700\u8fd1\u4f7f\u7528\u6444\u50cf\u5934\u505a\u4e09\u7ef4\u91cd\u5efa\u548c\u6fc0\u5149\u96f7\u8fbe\u8054\u5408\u5efa\u56fe\uff0c\u53d1\u73b0\u6444\u50cf\u5934\u6240\u8fd8\u539f\u7684\u4e09\u7ef4\u70b9\u4e91\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7684\u70b9\u4e91\u5728\u4e0d\u5c11\u4f4d\u7f6e\u5b58\u5728\u660e\u663e\u504f\u5dee\u3002 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1005,1213],"tags":[],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6483"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=6483"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6483\/revisions"}],"predecessor-version":[{"id":6485,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6483\/revisions\/6485"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6483"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6483"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6483"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}