Camera_Calibration

Tool to calibrate camera and extract line feature using OpenCV

Status: publish camera images / calibrate camera intrinsics / extract line feature

1. Prerequisites

1.1 ROS neotic

1.2 OpenCV 4.2.0

1.3 C++ Standard 17

2. Execution

2.1 Build

cd ~/catkin_ws/src
git clone https://github.com/Wang-Theo/Camera_Calibration.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES=cam_cali

2.2 Publish two cameras' images

source devel/setup.bash
roslaunch cam_cali cam_publish.launch 

2.3 Calibrate camera intrinsics

source devel/setup.bash
rosrun cam_cali cam_calibrate

You can find the calibrated image calibrated_image.png in folder image

The calbrated result matrix is shown in terminal

2.4 Extract line feature

source devel/setup.bash
rosrun cam_cali line_extract