extrinsic_calibrator_examples

Overview

extrinsic_calibrator_examples is a ROS2 package designed to provide examples on how to use the extrinsic_calibrator_core package as well as useful ros2 launch files to launch the cameras, the calibrator, as well as a demonstration rviz file.

Features

• Launch file to launch a set of cameras using the usb_camera package as well as the corresponding set of config files to configure the cameras.
• Laucnh file to launch the rviz file to visualize the markers and the camera frames as well as the rviz file to configure it.
• Launch file to launch all the previous, as well as the calibrator, them being the set of cameras, the rviz visualizer and the calibrator itself.

Configuration

The package provides configuration options through YAML files.

Camera configuration

Here you have an example configuration file l515.yaml file to configure the camera according to the usb_camera package, as well as the corresponding intrinsic calibration file.

/**:
    ros__parameters:
      video_device: "/dev/video12" # "ffplay /dev/video12" to test
      framerate: 6.0
      io_method: "mmap"
      frame_id: "cam2_frame"
      pixel_format: "yuyv"  # see usb_cam/supported_formats for list of supported formats
      av_device_format: "YUV422P"
      image_width: 640
      image_height: 480
      camera_name: "cam2"
      camera_info_url: "package://extrinsic_calibrator_examples/config/l515_intrinsics.yaml"
      brightness: -1
      contrast: -1
      saturation: -1
      sharpness: -1
      gain: -1
      auto_white_balance: true
      white_balance: 4000
      autoexposure: true
      exposure: 100
      autofocus: false
      focus: -1

Don’t forget to modify the parameter camera_info_url to properly link the camera configuration to the intrinsic calibration file.

image_width: 640
image_height: 480
camera_name: "cam2"
camera_matrix:
  rows: 3
  cols: 3
  data: [607.4058837890625, 0.0, 325.59991455078125, 0.0, 607.5341186523438, 247.25904846191406, 0.0, 0.0, 1.0]
distortion_model: "plumb_bob"
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.19551624357700348, -0.5865326523780823, -0.002620677463710308, 0.0008374004391953349, 0.5133219957351685]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
projection_matrix:
  rows: 3
  cols: 4
  data: [607.4058837890625, 0.0, 325.59991455078125, 0.0, 0.0, 607.5341186523438, 247.25904846191406, 0.0, 0.0, 0.0, 1.0, 0.0]

In case you want to launch more cameras with the same launch file, simply add them as additional nodes in the launch file launch_usb_cameras.launch.py:

```py d435_config = os.path.join(config_dir, ‘d435.yaml’) l515_config = os.path.join(config_dir, ‘l515.yaml’)

d457_config = os.path.join(config_dir, ‘d457.yaml’)

return LaunchDescription([ Node( package=’usb_cam’, executable=’usb_cam_node_exe’, name=’d435_camera’, namespace=’camera_1’, parameters=[d435_config], output=’screen’ ), Node( package=’usb_cam’, executable=’usb_cam_node_exe’, name=’l515_camera’, namespace=’camera_2’, parameters=[l515_config], output=’screen’ ), # Node( # package=’usb_cam’, # executable=’usb_cam_node_exe’, # name=’d457_camera’,

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