ROS package for calibrating stereo cameras via Checker or Charuco boards.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
What things you need to install the software and how to install them
1) ROS Neotic - works in Melodic as well
2) Pull master version of cares_msgs
a) cd ~/catkin_ws/src
b) git clone https://github.com/UoA-CARES/cares_msgs.git
3) Compile both libraries
a) cd ~/catkin_ws
b) catkin_make
A step by step series of examples that tell you how to get a development env running
Clone the package into the catkin directory you are using, presumned here to be "~/catkin_ws"
cd ~/catkin_ws/src
git clone https://github.com/UoA-CARES/stereo_calibration.git
Build the package with catkin_make in the source directory
cd ~/catkin_src/
catkin_make
Tests to be added
This node runs in two modes.
- First Mode
- Runs live and will collate images being published live off a pair of stereo cameras.
- Second mode
- Load stereo image pairs from a provided source location.
Images and calibration data is saved into a specified folder location (same folder as the stereo pair images). If a folder is not specified the location will default to ~/calibration_images/Y_M_D_H_S.
Left and right image pairs being published by a stereo pair - live calibration. Topic names are all default names (left/right), they can be changed via setting parameters in the launch file and refer to topic names.
- Image
- left/image_raw
- right/image_raw
No information is published.
Run using launch file as below - this will subscribe to the given stereo images and collate images until you press 'e' in the terminal to proceed to calibration.
roslaunch stereo_calibration live_stereo_calibrate_charuco.launch
<?xml version="1.0"?>
<launch>
<!--Save images and calibration data too folder - default "" = ~/calibration_images/M_D/N-->
<arg name="save_directory" default=""/>
<!--Image topic names-->
<arg name="camera_left" default="left/image_raw"/>
<arg name="camera_right" default="right/image_raw"/>
<!--Number of corners-->
<arg name="board_width" default="8"/>
<arg name="board_height" default="5"/>
<arg name="square_length" default="45.0"/><!--mm-->
<arg name="image_width" default="1936"/>
<arg name="image_height" default="1216"/>
<!--Calibration modes-->
<!--0 Checker-->
<!--1 Charuco-->
<arg name="method" default="1"/>
<!--Difference Threshold-->
<arg name="threshold" default="25"/><!--px-->
<!--Charuco marker length if required-->
<arg name="marker_length" default="23.0"/><!--mm-->
<!--Dictionary ID-->
<arg name="dictionary" default="0"/><!--DICT_4X4_50-->
<node name="stereo_calibration_node" pkg="stereo_calibration" type="stereo_calibration_node" output="screen">
<param name ="save_directory" value="$(arg save_directory)"/>
<param name ="camera_left" value="$(arg camera_left)"/>
<param name ="camera_right" value="$(arg camera_right)"/>
<param name ="board_width" value="$(arg board_width)"/>
<param name ="board_height" value="$(arg board_height)"/>
<param name ="square_length" value="$(arg square_length)"/>
<param name ="image_width" value="$(arg image_width)"/>
<param name ="image_height" value="$(arg image_height)"/>
<param name ="method" value="$(arg method)"/>
<param name ="threshold" value="$(arg threshold)"/>
<param name ="marker_length" value="$(arg marker_length)"/>
<param name ="dictionary" value="$(arg dictionary)"/>
</node>
</launch>Run using launch file as below - this will subscribe to the given stereo images and collate images until you press 'e' in the terminal to proceed to calibration.
roslaunch stereo_calibration live_stereo_calibrate_checker.launch
<?xml version="1.0"?>
<launch>
<!--Save images and calibration data too folder - default "" = ~/calibration_images/M_D/N-->
<arg name="save_directory" default=""/>
<!--Image topic names-->
<arg name="camera_left" default="left/image_raw"/>
<arg name="camera_right" default="right/image_raw"/>
<!--Number of corners-->
<arg name="board_width" default="9"/>
<arg name="board_height" default="6"/>
<arg name="square_length" default="25.0"/><!--mm-->
<arg name="image_width" default="1936"/>
<arg name="image_height" default="1216"/>
<!--Calibration modes-->
<!--0 Checker-->
<!--1 Charuco-->
<arg name="method" default="0"/>
<!--Difference Threshold-->
<arg name="threshold" default="25"/><!--px-->
<node name="stereo_calibration_node" pkg="stereo_calibration" type="stereo_calibration_node" output="screen">
<param name ="save_directory" value="$(arg save_directory)"/>
<param name ="camera_left" value="$(arg camera_left)"/>
<param name ="camera_right" value="$(arg camera_right)"/>
<param name ="board_width" value="$(arg board_width)"/>
<param name ="board_height" value="$(arg board_height)"/>
<param name ="square_length" value="$(arg square_length)"/>
<param name ="image_width" value="$(arg image_width)"/>
<param name ="image_height" value="$(arg image_height)"/>
<param name ="method" value="$(arg method)"/>
<param name ="threshold" value="$(arg threshold)"/>
</node>
</launch>Run using launch file as below - this will load the images in the given directory and find the given calibration.
roslaunch stereo_calibration file_stereo_calibrate_charuco.launch
<?xml version="1.0"?>
<launch>
<!--File Path-->
<arg name="image_path" default="$(env HOME)/calibration_images/..."/>
<arg name="save_directory" default="$(arg image_path)"/>
<!--Number of corners-->
<arg name="board_width" default="8"/>
<arg name="board_height" default="5"/>
<arg name="square_length" default="45.0"/><!--mm-->
<arg name="image_width" default="1936"/>
<arg name="image_height" default="1216"/>
<!--Calibration modes-->
<!--0 Checker-->
<!--1 Charuco-->
<arg name="method" default="1"/>
<!--Difference Threshold-->
<arg name="threshold" default="0"/><!--px-->
<!--Charuco marker length if required-->
<arg name="marker_length" default="23.0"/><!--mm-->
<!--Dictionary ID-->
<arg name="dictionary" default="0"/><!--DICT_4X4_50-->
<node name="stereo_calibration_node" pkg="stereo_calibration" type="stereo_calibration_node" output="screen">
<param name ="image_path" value="$(arg image_path)"/>
<param name ="save_directory" value="$(arg save_directory)"/>
<param name ="board_width" value="$(arg board_width)"/>
<param name ="board_height" value="$(arg board_height)"/>
<param name ="square_length" value="$(arg square_length)"/>
<param name ="image_width" value="$(arg image_width)"/>
<param name ="image_height" value="$(arg image_height)"/>
<param name ="method" value="$(arg method)"/>
<param name ="threshold" value="$(arg threshold)"/>
<param name ="marker_length" value="$(arg marker_length)"/>
<param name ="dictionary" value="$(arg dictionary)"/>
</node>
</launch>Run using launch file as below - this will load the images in the given directory and find the given calibration.
roslaunch stereo_calibration file_stereo_calibrate_checker.launch
<?xml version="1.0"?>
<launch>
<!--File Path-->
<arg name="image_path" default="$(env HOME)/calibration_images/..."/>
<arg name="save_directory" default="$(arg image_path)"/>
<!--Number of corners-->
<arg name="board_width" default="9"/>
<arg name="board_height" default="6"/>
<arg name="square_length" default="25.0"/><!--mm-->
<arg name="image_width" default="1936"/>
<arg name="image_height" default="1216"/>
<!--Calibration modes-->
<!--0 Checker-->
<!--1 Charuco-->
<arg name="method" default="0"/>
<!--Difference Threshold-->
<arg name="threshold" default="0"/><!--px-->
<node name="stereo_calibration_node" pkg="stereo_calibration" type="stereo_calibration_node" output="screen">
<param name ="image_path" value="$(arg image_path)"/>
<param name ="save_directory" value="$(arg save_directory)"/>
<param name ="board_width" value="$(arg board_width)"/>
<param name ="board_height" value="$(arg board_height)"/>
<param name ="square_length" value="$(arg square_length)"/>
<param name ="image_width" value="$(arg image_width)"/>
<param name ="image_height" value="$(arg image_height)"/>
<param name ="method" value="$(arg method)"/>
<param name ="threshold" value="$(arg threshold)"/>
</node>
</launch>This node/service will run a calibration service- using the cares_msgs/CalibrationService service type on the service topic "stereo_calibration".
The service takes a directory location of stereo pair images and returns a resulting cares_msgs/StereoCameraInfo message. The calibration data is also saved into the image_directory by the calibration service.
string image_directory
---
cares_msgs/StereoCameraInfo stereo_info
Run using launch file as below - this will setup the calibration service.
roslaunch stereo_calibration service_stereo_calibration.launch
<?xml version="1.0"?>
<launch>
<!--Number of corners-->
<arg name="board_width" default="8"/>
<arg name="board_height" default="5"/>
<arg name="square_length" default="45.0"/><!--mm-->
<arg name="image_width" default="1936"/>
<arg name="image_height" default="1216"/>
<!--Calibration modes-->
<!--0 Checker-->
<!--1 Charuco-->
<arg name="method" default="1"/>
<!--Difference Threshold-->
<arg name="threshold" default="0"/><!--px-->
<!--Charuco marker length if required-->
<arg name="marker_length" default="23.0"/><!--mm-->
<!--Dictionary ID-->
<arg name="dictionary" default="0"/><!--DICT_4X4_50-->
<node name="stereo_calibration_service" pkg="stereo_calibration" type="stereo_calibration_service" output="screen">
<param name ="board_width" value="$(arg board_width)"/>
<param name ="board_height" value="$(arg board_height)"/>
<param name ="square_length" value="$(arg square_length)"/>
<param name ="image_width" value="$(arg image_width)"/>
<param name ="image_height" value="$(arg image_height)"/>
<param name ="method" value="$(arg method)"/>
<param name ="threshold" value="$(arg threshold)"/>
<param name ="marker_length" value="$(arg marker_length)"/>
<param name ="dictionary" value="$(arg dictionary)"/>
</node>
</launch>Version 1.0
- Henry Williams
TBD