Nodes

The mono_calibration and stereo_calibration node can be used to calibrate monocular and stereo cameras and can be used for every robot/camera. They are general purpose calibration nodes which perform automatic calibration; only images of a checkerboard calibration object located somewhere on disk are needed.

mono_calibration

The mono_calibration node performs automatic monocular camera calibration of a camera using jpg images of a checkerboard calibration object.

Parameters

~folder (string, default: .)
  • Folder where images are saved.
~pattern_size (string, default: 9x6)
  • Size of calibration object (see OpenCV documentation).
~square_size (string, default: 0.03)
  • Size of single checkerboard square.
~image_prefix (string, default: camera)
  • Prefix of image files.
~camera_name (string, default: camera)
  • Name of camera.
~frame_id (string, default: /camera)
  • ROS frame id of camera.
~output_file (string, default: ./camera.yaml)
  • Path to yaml file where camera calibration results are saved.
~alpha (float, default: 0)
  • All pixels in undistorted cropped image are valid, set to 1.0 to preserve every pixel from original image.
~verbose (bool, default: false)
  • Set to true to output more info to terminal.

stereo_calibration

The stereo_calibration node performs automatic stereo camera calibration using jpg images of a checkerboard calibration object.

Parameters

~folder (string, default: .)
  • Folder where images are saved.
~pattern_size (string, default: 9x6)
  • Size of calibration object (see OpenCV documentation).
~square_size (string, default: 0.03)
  • Size of single checkerboard square.
~image_prefix_l (string, default: left)
  • Prefix of image files of left camera.
~camera_name_l (string, default: left)
  • Name of left camera.
~frame_id_l (string, default: /left)
  • ROS frame id of left camera.
~output_file_l (string, default: ./left.yaml)
  • Path to yaml file where camera calibration results of the left camera are saved.
~image_prefix_r (string, default: right)
  • Prefix of image of right files.
~camera_name_r (string, default: right)
  • Name of right camera.
~frame_id_r (string, default: /right)
  • ROS frame id of right camera.
~output_file_r (string, default: ./right.yaml)
  • Path to yaml file where camera calibration resultsof the right camera are saved.
~calibration_urdf_in (string, default: )
  • Optional: Set path to urdf file which will be read while updating baseline
~calibration_urdf_out (string, default: )
  • Optional: Set path to urdf file in which baseline property should be saved
~calibration_urdf_out (string, default: cam_r_)
  • Optional: Prefix of baseline property in urdf file
~alpha (float, default: 0)
  • All pixels in undistorted cropped image are valid, set to 1.0 to preserve every pixel from original image.
~verbose (bool, default: false)
  • Set to true to output more info to terminal.

Wiki: cob_camera_calibration (last edited 2012-04-03 12:05:54 by SebastianHaug)