ROS-noetic-USB相机的标定

25-03-08 01:40

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针对使用apriltag的降落实验，需要进行相机的标定，从网上搜罗了各种标定教程，最终标定成功，整理如下：

系统：ubuntu20.04+ROS-noetic

1、安装usb_cam软件包

sudo apt install ros-noetic-usb-cam class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

2、启动usb相机节点，使用以下命令查找摄像头接口

roslaunch usb_cam usb_cam-test.launch class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

ls /dev/video* class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

运行此命令后，会显示：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1">

class="hljs-ln-code"> class="hljs-ln-line">will@will-Dell-G15-5511:~/omni_ws$ ls /dev/video*

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">/dev/video0  /dev/video1  /dev/video2  /dev/video3

class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

判断一下自己的外接相机是哪个设备

3、修改 usb_cam/launch/usb_cam-test.launch

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line"><launch>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="video_device" value="/dev/video0" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="image_width" value="640" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="image_height" value="480" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="pixel_format" value="yuyv" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="camera_frame_id" value="usb_cam" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="io_method" value="mmap"/>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">  </node>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">    <remap from="image" to="/usb_cam/image_raw"/>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="autosize" value="true" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">  </node>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line"></launch> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

主要就是修改里面的这一项就行，默认是0，改成自己的设备编号就行

4、然后启动roslaunch usb_cam usb_cam-test.launch，有图像出来就成功了。

5、下载ROS的相机标定包

sudo apt-get install ros-noetic-camera-calibration
 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

sudo apt install ros-noetic-camera-calibration -y
 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

上面这两个都能用，但是我忘了我用的是哪个命令了，试试吧

6、打印一个棋盘格，像下面这样的：

1）棋盘格的size：比如上图这个是一个5x7的，就数这个图的交点一行有几个，和一列有几个就行
2）确定格子的大小：要根据打印出来的结果进行测量，上面这张图，我用A4纸打印，打印出来的格子边长是0.019m，也就是1.9cm，还要量一下格子的长宽，看看是不是真的是正方形。
7、开始标定：

先启动相机，再启动标定程序

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">roslaunch usb_cam usb_cam-test.launch
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">rosrun camera_calibration cameracalibrator.py --size 4x6 --square 0.026 image:=/usb_cam/image_raw camera:=/usb_cam class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

这里的size和square就是之前测量的数值，然后会出现如下界面：

在标定程序的界面能看到右侧有X Y Size Skew 还有CALIBRATE， SAVE 和COMMIT的标识
X：表示标定板在视野中的左右位置
Y：表示标定板在视野中的上下位置
Size：表示标定板在视野中的尺寸大小，其实就是离相机的远近
Skew：表示标定板在视野中的倾斜角度

打开程序后，就可以开始调整标定板的位置，让它在相机视野中各个位置移动和转动，让X Y Size和Skew这四个值下面的长条变成绿色，然后就可以看到CALIBRATE这个按钮变成青色，点击就会开始计算相机的参数，这个过程需要等一会，耐心等待。

这里可能会出现一个问题就是运行rosrun camera_calibration...的时候会报错：

couldn‘t find executable named cameracalibrator.py below /opt/ros/melodic/share/camera_calibration

意思是在/opt/ros/melodic/share/camera_calibration没有cameracalibrator.py

打开这个位置确实没有，但是在/opt/ros/melodic/lib/camera_calibration中是有的，把这个文件复制到前面的目录中即可运行。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">cd /opt/ros/noetic/lib/camera_calibration
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">sudo cp -r cameracalibrator.py /opt/ros/noetic/share/camera_calibration class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

7、计算完毕终端是这样的

然后SAVE按钮也会变成青色，点击SAVE按钮就会把数据保存到默认的目录下，这个目录在/tmp/calibrationdata.tar.gz

打开这个压缩包，里面有刚刚采集的图片，还有保存相机的参数，如下：

8、然后就是最后一步了，打开usb_cam-test.launch文件，加多一行导入相机参数：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line"><launch>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="video_device" value="/dev/video2" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="image_width" value="640" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="image_height" value="480" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="pixel_format" value="yuyv" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="camera_info_url" value="package://usb_cam/camera_info/camera_calibration20220531.yaml"/>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="camera_frame_id" value="usb_cam" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="io_method" value="mmap"/>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">  </node>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">    <remap from="image" to="/usb_cam/image_raw"/>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">    <param name="autosize" value="true" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">  </node>
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line"></launch> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

之后照常用roslaunch启动usb cam就可以了

9、如果做实验的话，要把这个标定文件拷到机载计算机的.ros-camera info文件夹里

10、在电脑上验证一下apriltag效果

下载apriltag的包：

1）安装依赖：不要放到ros的工作空间里面，一般放到home目录下

git clone https://github.com/AprilRobotics/apriltag.git      # 这个不是ros的功能包 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

2）编译依赖库apriltag: 进入apriltag文件夹中，然后新建文件夹build

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">mkdir build
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">cd build
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">cmake ..  ## 注意两点
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">make
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">sudo make install  #安装到ros中 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

3)安装AprilTag_ros包:将源码拷贝到你的工作空间中的src工作目录下

git clone https://github.com/AprilRobotics/apriltag_ros.git  #在src文件夹内
 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

4)回到工作空间进行编译

catkin_make
 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

5）Apriltag_ros的使用

①配置文件 settings.yaml

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">tag_family:        'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12  #支持单一标签类型
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">tag_threads:       2          # default: 2        # 设置Tag_Threads允许核心APRILTAG 2算法的某些部分运行并行计算。 典型的多线程优点和限制适用
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">tag_decimate:      1.0        # default: 1.0       #减小图像分辨率
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">tag_blur:          0.0        # default: 0.0       #设置tag_blur> 0模糊图像，tag_blur  < 0锐化图像
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">tag_refine_edges:  1          # default: 1         #增强了计算精度，但消耗了算力
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">tag_debug:         0          # default: 0         #1为保存中间图像到~/.ros
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">max_hamming_dist:  2          # default: 2 (Tunable parameter with 2 being a good choice - values >=3 consume large amounts of memory. Choose the largest value possible.)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line"># Other parameters
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">publish_tf:        true       # default: false     #发布tf坐标 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

I. tag_family:时设置检测的标签类型（二维码图片类型），一般用’tag36h11’ 。openmv的IDE可以生成这个标签。
II. 如果想发布TF坐标，需要把publish_tf设置为true。

②配置文件 tags.yaml （定义要查找的标签和标签簇）

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line"># 这个标签中至少要填入三个参数
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">standalone_tags:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">  [
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">    {id: 1, size: 0.05},   # id 对应于生成标签的ID号，size对应标签的大小
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">    {id: 2, size: 0.05},
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">    {id: 22, size: 0.05},
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">    {id: 45, size: 0.05},
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">  ]
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">  #这个标签是根据大小和位置检测的
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line"> tag_bundles:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">  [
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">    {
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">      name: 'my_bundle',
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">      layout:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">        [
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">          {id: 10, size: 0.05, x: 0.0000, y: 0.0000, z: 0.0, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0}                # id 对应于生成标签（二维码）的ID号，size对应标签的大小
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">          {id: 22, size: 0.05, x: 0.0000, y: 0.0000, z: 0.0, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0}，                # 我选用的是22和45号标签
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">           {id: 45, size: 0.05, x: 0.0000, y: 0.0000, z: 0.0, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0}，               # id 对应于生成标签（二维码）的ID号，size对应标签的大小
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">        ]
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">     } 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">  ] class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

注意添加你要设定的二维码标签的ID，和size（单位是 m），后面的 x,y,z 等表示的是坐标

6）修改launch文件：

这里主要是为了启用对应的相机话题（topic）和图像话题（topic）

进入apriltag_ros/apriltag_ros/launch文件夹中，会看到三个launch文件，主要修改这个continuous_detection.launch文件

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">  <arg name="camera_name" default="/usb_cam" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">  <arg name="image_topic" default="image_raw" />
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">  <arg name="camera_frame" default="/camera" /> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

7）使用功能包：

①开相机

roslaunch usb_cam usb_cam-test.launch  #启动摄像头 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

②启动功能包

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">source ~/catkin_ws/devel/setup.bash
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">roslaunch apriltag_ros continuous_detection.launch class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

注意相机标定文件需要放置的位置以及.yaml文件中的camera_name

③常用测试图像指令

rqt_image_view
 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

把话题切换成/tag_detections_image

或者使用rviz

rosrun rviz rviz
 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

④输出定位数据

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">rostopic echo /tag_detections
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">rostopic echo /tf  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">rostopic echo /usb_cam/camera_info class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

参考：

couldn‘t find executable named cameracalibrator.py below /opt/ros/melodic/share/camera_calibration_cameracalibration没有calibrator.py怎么办、-CSDN博客

【ROS】usb_cam相机标定_ros相机标定-CSDN

【AprilTag】视觉定位实战 | 使用 ROS 驱动的 USB 摄像头进行相机标定与 AprilTag 识别_apriltag ros-CSDN博客

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注：本文转载自blog.csdn.net的恰恰恰巴塔的文章"https://blog.csdn.net/renwenjing666/article/details/143490782"。版权归原作者所有，此博客不拥有其著作权，亦不承担相应法律责任。如有侵权，请联系我们删除。

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