vision

Personal vision tool box including sampling / labeling / calibration and ...

Setup

Install

cd
mkdir -p vision_ws/src
cd vision_ws/src
catkin_init_workspace
git clone https://github.com/super148666/vision.git
cd ..
catkin_make
source devel/setup.bash

Stereo Calibration

Config

cd ~/vision_ws/src/vision/param/
gedit stereo_calib.yaml

Following parameters are configurable:

• chessboard_width: number of cells along the longer edge
• chessboard_height: number of cells along the shorter edge
• chessboard_square_width: width for single cell on chessboard in meter
• left_topic_name: topic name in string for letf camera
• right_topic_name: topic name in string for right camera
• absolute_path: true if the save path should be absolute, otherwise false
• save_path: path for storing calibration outcome, as string

Usage

source ~/vision_ws/devel/setup.bash
roslaunch vision stereo_calib.launch

Then follow the instruction on the terminal to complete calibration. All generated matrixs will be stored in a yaml file in save_path defined in configuration.