60 lines
1.8 KiB
Plaintext
Executable File
60 lines
1.8 KiB
Plaintext
Executable File
/**
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\mainpage
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\htmlinclude manifest.html
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\b The camera_calibration package contains tools for calibrating monocular and stereo cameras.
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\section codeapi Code API
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camera_calibration does not have a code API.
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\section rosapi ROS API
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List of nodes:
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- \b calibrationnode
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<!-- START: copy for each node -->
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<hr>
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\subsection node_name calibrationnode
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calibrationnode subscribes to ROS raw image topics, and presents a
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calibration window. It can run in both monocular and stereo modes.
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The calibration window shows the current images from the cameras,
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highlighting the checkerboard. When the user presses the "CALIBRATE"
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button, the node computes the camera calibration parameters. When the
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user clicks "UPLOAD", the node uploads these new calibration parameters
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to the camera driver using a service call.
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\subsubsection Usage
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\verbatim
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$ node_type1 [standard ROS args]
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\endverbatim
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\par Example
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\verbatim
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$ rosrun camera_calibration cal.py right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right
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\endverbatim
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\subsubsection topics ROS topics
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Subscribes to:
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- \b "left": [sensor_msgs/Image] left raw image topic, for stereo cameras
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- \b "right": [sensor_msgs/Image] left raw image topic, for stereo cameras
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- \b "image": [sensor_msgs/Image] raw image topic, for monocular cameras
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Makes service calls to:
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\subsubsection services ROS services
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- \b "foo_service": [std_srvs/FooType] description of foo_service
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- \b "camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the camera for monocular
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- \b "left_camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the left stereo camera
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- \b "right_camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the left stereo camera
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<!-- END: copy for each node -->
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*/
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