How to calibrate a stereo usb camera setup on a Raspberry Pi for your ROS system using OpenCV скачать в хорошем качестве

How to calibrate a stereo usb camera setup on a Raspberry Pi for your ROS system using OpenCV

Hey, in this video Tutorial I´m gonna show you how to calibrate your stereo usb camera setup on a Raspberrry Pi 4B 6GB with ROS noetic and Ubuntu 20.04 ----------------------------------------------------------------------------------------------------------------------°launch§ °arg name="video_left" default="/dev/video0" /§ °arg name="video_right" default="/dev/video4" /§ °arg name="image_width" default="320" /§ °arg name="image_height" default="240" /§ °arg name="framerate" default="1" /§ °arg name="right_image_name" default="stereo" /§ °arg name="left_image_name" default="stereo" /§ °arg name="right_node" default="right" /§ °arg name="left_node" default="left" /§ °arg name="topic_name_left" default="image_raw" /§ °arg name="cam_info_name_left" default="camera_info" /§ °arg name="topic_name_right" default="image_raw" /§ °arg name="cam_info_name_right" default="camera_info" /§ °arg name="left_cam_name" default="left_camera" /§ °arg name="right_cam_name" default="right_camera" /§ °arg name="left_cam_frame_id" default="left_camera" /§ °arg name="right_cam_frame_id" default="right_camera" /§ °arg name="camera_info_file_path" default="camera_info" /§ °arg name="camera_info" default="true" /§ °node ns="$(arg left_image_name)" name="$(arg left_node)" pkg="usb_cam" type="usb_cam_node" output="screen" § °param name="video_device" value="$(arg video_left)" /§ °param name="image_width" value="$(arg image_width)" /§ °param name="image_height" value="$(arg image_height)"/§ °param name="framerate" value="$(arg framerate)"/§ °remap from="/usb_cam/image_raw" to="$(arg topic_name_left)"/§ °param name="io_method" value="mmap"/§ °param name="pixel_format" value="yuyv" /§ °param name="camera_frame_id" value="$(arg left_cam_frame_id)" if="$(arg camera_info)"/§ °param name="camera_name" value="$(arg left_cam_name)" if="$(arg camera_info)"/§ °param name="camera_info_url" value="file://${ROS_HOME}/$(arg camera_info_file_path)/left.yaml" if="$(arg camera_info)"/§ °remap from="/usb_cam/camera_info" to="$(arg cam_info_name_left)" if="$(arg camera_info)"/§ °/node§ °node ns="$(arg right_image_name)" name="$(arg right_node)" pkg="usb_cam" type="usb_cam_node" output="screen" § °param name="video_device" value="$(arg video_right)" /§ °param name="image_width" value="$(arg image_width)" /§ °param name="image_height" value="$(arg image_height)"/§ °param name="framerate" value="$(arg framerate)"/§ °remap from="/usb_cam/image_raw" to="$(arg topic_name_right)" /§ °param name="io_method" value="mmap"/§ °param name="pixel_format" value="yuyv" /§ °param name="camera_frame_id" value="$(arg right_cam_frame_id)" if="$(arg camera_info)" /§ °param name="camera_info_url" value="file://${ROS_HOME}/$(arg camera_info_file_path)/right.yaml" if="$(arg camera_info)"/§ °param name="camera_name" value="$(arg right_cam_name)" if="$(arg camera_info)"/§ °remap from="/usb_cam/camera_info" to="$(arg cam_info_name_right)" if="$(arg camera_info)"/§ °/node§ °/launch§ ---------------------------------------------------------------------------------------------------- ----------------- Yo nedd to replace ° by openning angle bracket, and § by closing angle Bracket. Sorry, these are not possible to upload. Find USB device: $ lsusb find viedeo sources: $ ls -ltrh /dev/video* go to your catkin ws src: $ cd ~/catkin_ws/src clone the usb_cam pkg: $ git clone https://github.com/ros-drivers/usb_ca... go back to ws: $ cd .. source your devil bash file: $ source devel/setup.bash run usb_cam launch file: $ roslaunch stereo_usb_camera.launch launch the calibration: $ rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.035 right:=/stereo/right/image_raw left:=/stereo/left/image_raw right_camera:=/stereo/right left_camera:=/stereo/left --no-service-check --approximate=0.1 run Rviz : $ rosrun rviz rviz If you have any questions for me, leave them in the comments below. Thanks for watching.