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Simulated Stereo Camera Calibration

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George Kouros edited this page Aug 30, 2019 · 1 revision

Execute the following command in a terminal to launch a car-like robot and the checkerboard world in the Gazebo Robot Simulator. With this setup you will calibrate the simulated stereo camera of the robot to fix radial and tangential distortions, as well as rectify the two cameras:

$ roslaunch ackermann_vehicle_gazebo ackermann_vehicle.launch world:=checkerboard

  • Move the checkerboard around inside the field of view of both cameras until CALIBRATE lights up
  • Press CALIBRATE and wait a few minutes
  • Press SAVE to store calibrationdata.tar.gz in /tmp
  • Finally, extract the files left.yaml and right.yaml and put them in calibration directory as shown below:
$ cd ~/.ros/stereo_calibration
$ tar -zxvf /tmp/calibrationdata.tar.gz left.yaml right.yaml

If you have trouble doing the calibration, simply download an existing calibration, extract and copy left.yaml and right.yaml to /path/to/tech-session-visual-odometry/stereo_calibration and move on to the next exercises.

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