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<h1 id="怎么使用"><a name="怎么使用" href="#怎么使用"></a>怎么使用</h1><h2 id="步骤0："><a name="步骤0：" href="#步骤0："></a>步骤0：</h2><p>将解压包放到一个ros工作空间，并使用以下命令进行编译</p><pre><code data-origin="<pre><code>catkin_make --pkg camera_laser_calibration
</code></pre>">catkin_make --pkg camera_laser_calibration
</code></pre><p>如果遇到cv_bridge的错误那请将Cmakelists.txt第12行取消注释<br>如果提示ceres未安装，请按照ceres官方指示进行安装操作</p><h2 id="步骤1："><a name="步骤1：" href="#步骤1："></a>步骤1：</h2><p>进入到ros工作空间</p><pre><code data-origin="<pre><code>source devel/setup.bash
</code></pre>">source devel/setup.bash
</code></pre><p>然后运行</p><pre><code data-origin="<pre><code>roslaunch camera_laser_calibration collect_laser_image_data.launch
</code></pre>">roslaunch camera_laser_calibration collect_laser_image_data.launch
</code></pre><p>进入到你要用于标定的bag文件目录下 并执行</p><pre><code data-origin="<pre><code>rosbag play --pause XXX.bag
</code></pre>">rosbag play --pause XXX.bag
</code></pre><p>此时记得用空格键来控制bag的播放与暂停</p><p>开启一个新的终端 启动rqt<br>选择<strong>Plungs/Configuration/Dynamic Reconfiguration</strong></p><p>最终你在rviz和rqt将看到以下两个画面表示成功, 其中rviz出现图像和激光彩色线条，rqt中出现控制界面</p><p><img src="how_to_use_imgs/img1.png" alt=""></p><h2 id="步骤2"><a name="步骤2" href="#步骤2"></a>步骤2</h2><p>如果你不想看文字，可以直接看根目录下的演示视频 How_to_use.mp4</p><p><strong>暂停bag的播放</strong></p><p>通过rviz工具栏的 <strong>2D Nav Goal</strong> 去选择激光的点，选择之后会在第一个启动标定程序的终端显示出类似以下的内容</p><p>[ INFO] [1534164489.163120940]: Setting goal: Frame:laser, Position(<strong>1.575, -0.752</strong>, 0.000), Orientation(0.000, 0.000, -0.688, 0.725) = Angle: -1.518</p><p>请复制我标粗的部分到粘贴板<br>并切换到rqt界面，将其粘贴到laser_coor右边的框中，如果是上面的例子，粘贴完成应该显示1.575, -0.752</p><p><strong>勾选Save按钮</strong><br>此时会弹出当前激光对应的图像，你需要勾选一个小的矩形框，勾选完成后 会弹出检测出坐标点的特征点，然后对着图像窗口按键盘空格键，窗口将消失<br>数据将以 <strong>x y u v</strong> 的格式存自动保存在data/data_v2.txt文件夹下</p><h2 id="步骤3"><a name="步骤3" href="#步骤3"></a>步骤3</h2><p>标定<br>将data/data_v2.txt 复制一份变为data.txt</p><pre><code data-origin="<pre><code>roslaunch camera_laser_calibration calibration.launch
</code></pre>">roslaunch camera_laser_calibration calibration.launch
</code></pre><p>标定结果<br><code>Tcl: 结果为激光雷达到相机的外参，它会自动保存到data文件夹下</code></p><p><img src="results/optimization_result.png" alt="reprojection"></p><h2 id="步骤4"><a name="步骤4" href="#步骤4"></a>步骤4</h2><p>重投影检验标定结果</p><pre><code data-origin="<pre><code>roslaunch camera_laser_calibration reprojection_test.launch
</code></pre>">roslaunch camera_laser_calibration reprojection_test.launch
</code></pre><p>会自动启动rviz，重投影图像是以rosmsg消息发布的<br><img src="results/rotation.gif" alt="demo0"></p>
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