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Camera-Calibration-in-ROS

Prerequisites

ROS:
- https://wiki.ros.org/ROS/Installation
Camera Calibration ROS Package:
- sudo apt install ros-<ros1-distro>-camera-calibration
Python: Python version 3.8 should be installed in a new environment in conda
- conda create --name myenv python=3.8
- conda activate myenv
- python --version
OpenCV: opencv version 4.2.0 should be installed on the created conda environment using conda command
- conda install -c conda-forge opencv=4.2.0

Calibration Procedure

Monocular
- Step 1: Open terminal and run ROS core
  - roscore
- Step 2: Open another terminal and start camera node
  - rosrun cv_camera cv_camera_node
- Step 3: Run the camera calibration tool
  - rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.03 image:=/cv_camera/image_raw camera:=/cv_camera
Stereo
- Step 1: Open terminal and run ROS core
  - roscore
- Step 2: Start camera nodes
  - Terminal 1: Start left camera node
    - rosrun cv_camera cv_camera_node _device_id:=2 _frame_id:=left_camera __name:=left_camera
  - Terminal 2: Start right camera node
    - rosrun cv_camera cv_camera_node _device_id:=3 _frame_id:=right_camera __name:=right_camera
- Step 3: Run the camera calibration tool
  - rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 8x6 --square 0.03 right:=/right_camera/image_raw left:=/left_camera/image_raw right_camera:=/right_camera left_camera:=/left_camera