激光视觉标定

年初时候写的一个激光和视觉标定的代码，还挺好用的，使用方法话因为好久没用了就直接把当时写的readme 粘过来了，有需要的同学可以看下github传送门

camera-laser-calibration

Authors: Nico

overview

This package is used to calculate the translation and rotation matrix between camera and laser coordinate.
I use the QR code board as the marker,detect the center point pair of the QR code as 2D point in image and 3D points in laser coordinates. Then use the PnP method to get the relation between the two coordinates.Actualy you can use any other marker .It will also give you good result.
Image shows the image and laser fuse result:

prerequisites

1 ROS

We use ros to get the image and laser message.

2 Marker

Here we use the QR code as the marker.The size of the marker is 80*80 cm.

Marker

Test data

You can download the test data in here.This rosbag have two topic:
image topic:/camera/image_color
laser topic: /velodyne32/velodyne_points
Run the bag file:

$rosbag play 2016-12-22-14-03-09.bag -l

And follow the "Usage"step, you can test the package.

Usage

1 camera calibtation

If you use the test data ， you can ignore this step.

$rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.061 image:=/camera/image_color camera:=/camera

You shoude change the size/square/image/camera with your own parameters.Write the camera calibration result in the cam_laser_calib/src/solvepnp/param/calib.yml file.

2 Get the points pair of QR code center

2.1 build and run

Create a ros workspaces named cam_laser_calib.

$cd cam_laser_calib/src
$git clone [e-mail]:NicoChou/camera-laser-calibration.git
$cd ..
$catkin_make
$roslaunch  cam_laser_calib calibration.launch

Here we shoud notice the parameter in launch file,change the "onlyDrawPointsColor" value to false.Replace the point cloud and image topic with your own topic name.

<launch>

	<node pkg="cam_laser_calib" type="cam_laser_calib_node" name="cam_laser_calib" args="$(find cam_laser_calib)/../solvepnp/imageCloudPoints.txt $(find cam_laser_calib)/../solvepnp/param/calib.yml" output="screen">

		    <param name="strSub_pc2" type="string" value="/velodyne32/velodyne_points"/>

	   		<param name="strSub_img" type="string" value="/camera/image_color"/>

	  	 	<param name="onlyDrawPointsColor" type="bool" value="false"/>

		    <param name="DistanceThreshold" type="double" value="0.05"/>

	</node>

</launch>

2.2 Choose rectangle cut area of point cloud

We use rqt_reconfigure to dynamic config the rectangle cut area of point cloud.

$rosrun rqt_reconfigure rqt_reconfigure 

rqt_reconfigure

Before cut the point cloud

After cut the point cloud

Estimated plane

After adjust the parameter,wirite it in the cam_laser_calib/src/camLaserCalib/cfg/cam_laser_calib.cfg file and shutdown the program. Recompile the package.

$cd cam_laser_calib/
$catkin_make 

2.3 Get the points pair of QR code center

$roslaunch  cam_laser_calib calibration.launch

After this step, we write the point pairs of QR code center in laser coordinates and image coordinates to cam_laser_calib/src/solvepnp/imageCloudPoints.txt file.

3 Calculate the calibration matrix

We use solvePnP method in openCV to get the calibration matrix.

$cd cam_laser_calib/src/solvepnp/build
$make
$../bin/solvepnp

After this step , copy the T matrix in terminal to cam_laser_calib/src/solvepnp/param/calib.yml file. Replace the CameraExtrinsicMat.

4 Using calibration matrix to draw point cloud with image color

At this step we could change the onlyDrawPointsColor parameter in "calibtation.launch" file to true.Got the color point cloud as the first figure.