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Only released in EOL distros:   electric

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.