- Author: Zhao Cilang,Yan Fei,Zhuang Yanemail@example.com
- License: BSD
- Source: git https://github.com/ZhuangYanDLUT/dlut-ros-pkg.git (branch: None)
This package is used to calculate the external parameter of the camera and the sick using the angular point of the image and the angular point of the point cloud.
1.Get four groups of camera image and point cloud of the calibration board.
1.1 Run the following command to get the angular point of the camera image.
rosrun camera_laser_calibration detect_image_corners [image_file_name] [p1] [p2] [p3]
[image_file_name] :the image file name of the calibration board.
[p1] : the red channel value
[p2] : the blue channel value and the green channel value
[p3] : the difference between the the blue channel value and the green channel value
And this command will output a file called "visionpts*.txt" which contains the angular points of the camera image.
1.2 Run the following command to get the angular point of the point cloud.
rosrun camera_laser_calibration detect_laser_corners [pcd_file_name]
[pcd_file_name] : the point cloud's file name.
And this command will output a file called "laserpts*.txt" which contains the angular point of the point cloud.
2.Run the following command to get the rotating tran slational matrix:
rosrun camera_laser_calibration calculate_RT [first_file_number] [all_file_number]
[first_file_number] : the serial number of the first group of angular points.
[all_file_number] : the number of the groups of angular points.
And this command will output a file called "rotation.xml" containing the rotation matrix and a file called "translation.xml" containing the translation matrix.
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