camera calibration

Computing Fundamental Matrix and Drawing Epipolar Lines for Stereo Vision Cameras in OpenCV

Following my other post, you can extract the equation for epipolar lines. Basically choosing one point in one image and using fundamental matrix, we will get a line in the other image:

 

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RGBD PCL point cloud from Stereo vision with ROS and OpenCV

In my other tutorial, I showed you how to calibrate you stereo camera. After Calibration, we can get disparity map and  RGBD PCL point cloud from our stereo camera cool huh 🙂 1)Save the following text under “stereo_usb_cam_stream_publisher.launch”

2) Then run the following node to publish both cameras and camera info (calibration matrix)

3) Run the

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How to use a calibrated camera in ROS

In my previous tutorial I showed you how to calibrate a camera with ROS. In this tutorial, I’m gonna show you how to rectify the images from coming from your camera. First, open your text editor and paste the following text into it:

make the necessary changes and save it under usb_cam_stream_publisher.launch Now run it:

Open

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Calibrating a Monocular Camera with ROS

ROS use OpenCV for camera calibration but the format that it stores the data is different than OpenCV. Also, you need to know where to place the camera calibration files so ROS can find it and publish it. 1.First, you need to install usb cam package from ROS and uvcdynctrl to disable autofocus:

2.Open a terminal and run roscore:

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