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This article introduces the relevant knowledge of "what is the internal parameter calibration method of ZED binocular camera". In the operation of actual cases, many people will encounter such a dilemma, so let the editor lead you to learn how to deal with these situations. I hope you can read it carefully and be able to achieve something!

First, prepare to work on a 8x6 chessboard calibration board with a side length of 10.8 cm. Because the calibration uses internal corners, it is actually printed out that the 9x7 size ensures a 5m X 5m unobscured environment. A binocular camera that publishes left and right images to ROS.

II. Compile and install the driver # rosdep to install the dependencies of the specified package

Rosdep install camera_calibration

# compiling ROS Calibration tool

Rosmake camera_calibration III. Release image theme

Make sure that the binocular camera picture theme has been posted to ROS and view it using the following command:

Rostopic list

Check to see if there are left for ZED and image_raw themes for right:

/ my_stereo/left/camera_info

/ my_stereo/left/image_raw

/ my_stereo/right/camera_info

/ my_stereo/right/image_raw

/ my_stereo_both/parameter_descriptions

/ my_stereo_both/parameter_updates

/ my_stereo_l/parameter_descriptions

/ my_stereo_l/parameter_updates

/ my_stereo_r/parameter_descriptions IV. Launch the ROS calibration tool

Type the startup instruction to run the Python calibration script and add the calibration board and image theme parameters:

Rosrun camera_calibration cameracalibrator.py-- approximate 0.1-- size 8x6-- square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw right_camera:=/my_stereo/right left_camera:=/my_stereo/left

The parameters are explained as follows:

-- approximate: the camera calibrator can handle images with different timestamps. The current setting is 0.1s, which means that as long as the timestamp difference is less than 0.1s, the calibration program can run normally. -- size: calibration board corner size 8x6--square: calibration board side length 0.108, unit mright: right camera image theme left: left camera image theme right_camera: right camera left_camera: left camera

The launch interface is as follows. Put the checkerboard into the camera's field of view, and the XMagne YMagne size will change constantly during the calibration process:

5. start calibrating 5.1 level with the calibration board.

Make sure you hold the long side of the calibration board in your hand, not backwards:

5.2 Mobile Calibration Board

In order to get a good calibration result, you need to move the calibration board in the camera field of view. The position of the calibration board is as follows:

X-axis calibration: move to the leftmost, rightmost Y-axis calibration: move to the top of the field of vision, bottom tilt calibration: change the angle of the calibration plate, tilt to take the Size calibration: move the calibration board to fill the entire camera field of view X-ray and Size calibrate together: keep the calibration plate tilted to start to the left, right, top, bottom of the field of view

Some calibration images are as follows:

5.3 Calibration results

When you move the calibration board so that the calibration program has enough data to calculate the calibration matrix, the calibration button "CALIBRATE" in the program will brighten, and then click to generate the calibration result:

Calibration accuracy and dimensions will appear in the sidebar:

Epi is the calibration accuracy, the current 0.16 pixel dim is the calibration size, and the current is 0.108 meters

The calibration matrix of the left and right image is generated at the terminal. Here, the internal parameter matrix K and the distortion matrix distortion of the left and right camera are intercepted:

Left:

K = [425.19601412158482,0.0308.29689772295882,0.0,426.02702697756899223.53789948448997, 0.0, 0.0, 1.0]

Right:

K = [425.1874186821433,0.0,323.8787136811938,0.0,426.46867413824884, 226.19589833365407, 0.0, 0.0, 1.0]

[narrow_stereo/left]

Distortion

-0.314202 0.091935 0.001295-0.001620 0.0000

[narrow_stereo/right]

Distortion

-0.305505 0.082701 0.001967-0.001641 0.0000

Then click the "SAVE" button in the sidebar to save the calibration results to / tmp/calibrationdata.tar.gz

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