I’m using ROS usb_cam package with small changes in my project. Then I created a robot_vision package in my workspace so I could make small changes and maybe get a generic package to use in other projects in the future.
I created a custom launch in robot_vision based on:
$ roscat usb_cam usb_cam-test.launch
So I could use other usb camera (/dev/video1 default is video0) device then change /dev/video:
$ roslaunch robot_vision init_camera.launch
After that I erformed a calibration
$ rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.028 image:=/usb_cam/image_raw camera:=/usb_cam
Attention to --size, count the chessboard intersections, not the squares. Follow the instructions.
Update your launch:
<param name="camera_info_url" value="file:///$(find robot_vision)/calib.yaml" />
<param name="camera_name" value="camera" />
To get rectificated images topics:
$ ROS_NAMESPACE=PS_cam rosrun image_oc image_proc
To check:
$ rosrun camera_calibration cameracheck.py --size 7x5 monocular:=/camera image:=image_rect
On roslaunch:
<node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam"/>
Sources:
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
http://wiki.ros.org/image_proc
https://www.artoolworks.com/support/library/images/6/6a/Calibration_chessboard.pdf
http://wiki.ros.org/camera_calibration