oak相机使用oak官网方式标定

[一、depthai ROS驱动](#一、depthai ROS驱动)

一、depthai ROS驱动

（1）驱动下载地址：2. C++ 开发快速上手 --- DepthAI Docs 0.3.0.0 documentation

sudo apt install ./depthai_2.17.1_arm64.deb
//运行
Python3 utilities/cam_test.py -mres 400 -cams rgb,m left,m right,m camd,m

（2）或者运行python脚本打开相机

import depthai as dai
import cv2

cam_list = ["CAM_B", "CAM_C", "CAM_D","CAM_A"]
cam_socket_opts = {
    "CAM_A": dai.CameraBoardSocket.RGB,
    "CAM_B": dai.CameraBoardSocket.LEFT,
    "CAM_C": dai.CameraBoardSocket.RIGHT,
    "CAM_D": dai.CameraBoardSocket.CAM_D,
}

pipeline = dai.Pipeline()
cam = {}
xout = {}
for c in cam_list:
    cam[c] = pipeline.create(dai.node.MonoCamera)
    cam[c].setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)

    if c == "CAM_A":
        cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.OUTPUT)
    else:
        cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)
    # cam[c].initialControl.setExternalTrigger(4, 3)
    cam[c].setBoardSocket(cam_socket_opts[c])
    cam[c].setFps(20)
    xout[c] = pipeline.create(dai.node.XLinkOut)
    xout[c].setStreamName(c)
    cam[c].out.link(xout[c].input)

config = dai.Device.Config()
config.board.gpio[6] = dai.BoardConfig.GPIO(
    dai.BoardConfig.GPIO.OUTPUT, dai.BoardConfig.GPIO.Level.HIGH
)
# config.version = dai.OpenVINO.VERSION_UNIVERSAL

with dai.Device(config) as device:
    device.startPipeline(pipeline)
    
    print('Connected cameras:')

    for p in device.getConnectedCameraFeatures():
        print(f' -socket {p.socket.name:6}: {p.sensorName:6} {p.width:4} x {p.height:4} focus:', end='')
        print('auto ' if p.hasAutofocus else 'fixed', '- ', end='')
        print(*[type.name for type in p.supportedTypes])
        
    q = {}
    for c in cam_list:
        q[c] = device.getOutputQueue(name=c, maxSize=1, blocking=False)
        cv2.namedWindow(c, cv2.WINDOW_NORMAL)
        cv2.resizeWindow(c, (640, 480))

    while not device.isClosed():git clone https://github.com/ethz-asl/kalibr.git

        frame_list = []
        for c in cam_list:
            pkt = q[c].tryGet()
            if pkt is not None:
                print(c + ":", pkt.getTimestampDevice())
                frame_list.append((c, pkt.getCvFrame()))
                # cv2.imshow(c, frame)
        if frame_list:
            print("-------------------------------")
            for c,frame in frame_list:
                cv2.imshow(c, frame)
            
        #print("-------------------------------")

        key = cv2.waitKey(1)
        if key == ord("q"):
            break

（3）使用python脚本

'''
    func:驱动DepthAi套件的相机
    by:2024.7.5
'''
import depthai as dai
import cv2
import queue
class CamerDrive():
    cam_list = ['rgb', 'left', 'right', 'camd']
    cam_socket_opts = {}
    pipeline = dai.Pipeline()
    # 初始化两个字典，用于存储摄像头节点和XLinkOut节点
    cam = {}
    xout = {}
    #
    frameQueue = {}
    device = None

    # myFrameQueue = {}
    # 构造函数
    def __init__(self):
        self.cam_socket_opts = {
            'rgb': dai.CameraBoardSocket.RGB,  # Or CAM_A  板载接口名称可复用
            'left': dai.CameraBoardSocket.LEFT,  # Or CAM_B
            'right': dai.CameraBoardSocket.RIGHT,  # Or CAM_C
            'camd': dai.CameraBoardSocket.CAM_D,
        }

    #     配置相机节点
    def cameraNodeConfig(self):
        for c in self.cam_list:
            # 创建MonoCamera节点（注意：这里可能对于RGB摄像头需要改为ColorCamera）
            self.cam[c] = self.pipeline.create(dai.node.MonoCamera)
            # if c == 'rgb':
            #     self.cam[c] = self.pipeline.create(dai.node.ColorCamera)
            # 设置摄像头分辨率为800P
            self.cam[c].setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
            # 根据摄像头类型设置帧同步模式
            if c == 'rgb':
                self.cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.OUTPUT)  # 输出同步模式
            else:
                self.cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)  # 输入同步模式
            # 设置摄像头连接到板载的哪个接口
            self.cam[c].setBoardSocket(self.cam_socket_opts[c])
            # 创建XLinkOut节点，用于将摄像头数据输出到主机
            self.xout[c] = self.pipeline.create(dai.node.XLinkOut)
            # 设置输出流的名称
            self.xout[c].setStreamName(c)
            # 将摄像头的输出链接到XLinkOut的输入
            self.cam[c].out.link(self.xout[c].input)

    def depthAIConfig(self):
        config = dai.Device.Config()
        # 将GPIO引脚6配置为输出模式，并设置初始电平为高
        config.board.gpio[6] = dai.BoardConfig.GPIO(dai.BoardConfig.GPIO.OUTPUT,
                                                    dai.BoardConfig.GPIO.Level.HIGH)
        # 使用Device类创建一个设备实例，并传入之前配置的配置对象。同时，使用with语句确保设备在使用完毕后正确关闭。
        # with dai.Device(config) as device:
        self.device = dai.Device(config)
            # 启动pipeline对象
        self.device.startPipeline(self.pipeline)
            # 遍历相机列表，为每个相机设置输出队列、OpenCV窗口，并初始化FPS计算对象。
        for c in self.cam_list:
            self.frameQueue[c] = self.device.getOutputQueue(name=c, maxSize=1, blocking=False)  # 获取相机输出队列，非阻塞模式
            cv2.namedWindow(c, cv2.WINDOW_NORMAL)  # 为每个相机创建一个OpenCV窗口
            cv2.resizeWindow(c, (640, 480))  # 调整窗口大小


    def get_Frame(self):
        while True:
            for c in self.cam_list:
                # 尝试从输出队列中获取一帧数据。
                try:
                    pkt = self.frameQueue[c].tryGet()
                    if pkt is not None:
                        # 将数据包转换为OpenCV的Mat对象并显示。
                        frame = pkt.getCvFrame()
                        cv2.imshow(c, frame)
                    else:
                        print('sda')
                    key = cv2.waitKey(1)
                    if key == ord('q'):
                        break
                except:
                    pass

if __name__ == '__main__':
    a = CamerDrive()
    a.cameraNodeConfig()
    a.depthAIConfig()
    a.get_Frame()

二、获取相机内参

1.安装depthai-ros

mkdir -p dai_ws/src
cd dai_ws/src
git clone https://gitee.com/oakchina/depthai-ros.git
cd ..
source /opt/ros/melodic/setup.bash
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash

2.执行相机对应的launch文件

cd dai_ws
source devel/setup.bash
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D

3.查看相机内参

rostopic echo -n 1 /mobilenet_publisher/color/camera_info

4.相机内参结果

|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| 相机内参Intrinsics: k表示等距畸变系数，mu,mv对应焦距,v,u对应主点坐标。相机外参Extrinsics(从右目往左目): rotation表示旋转矩阵， translation表示平移矩阵。 D、K、R、P 分别为畸变参数，内参矩阵，矫正矩阵，投影矩阵。 seq: 0 stamp: secs: 1719912958 nsecs: 823117551 frame_id: "oak_rgb_camera_optical_frame" height: 720 width: 1280 distortion_model: "plumb_bob" 畸变参数D: [-1.87286, 16.683033, 0.001053, -0.002063, 61.878521, -2.158907, 18.424637, 57.682858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 内参矩阵 K: [1479.458984, 0.0, 950.694458, 0.0, 1477.587158, 530.697632, 0.0, 0.0, 1.0] R: [0.9997062937394856, -0.023389961528659683, 0.006343181957754751, 0.0233922879452606, 0.999726320114537, -0.0002928052810344399, -0.006334597252184302, 0.0004411008211352551, 0.9999798389506251] P: [1479.458984, 0.0, 950.694458, 0.0, 0.0, 1477.587158, 530.697632, 0.0, 0.0, 0.0, 1.0, 0.0] binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: False --- |

三、OAK相机外参

git clone https://gitee.com/oakchina/depthai.git
python3 install_requirements.py
//运行
python3 calibrate.py -s 2.75 -ms 2.05 -brd OAK-D -cd 0 -c 1 -mst 1

-db``：表示默认板，表示你正在使用 ``Charuco ``标记。

-nx：x 方向上的 Charuco 标记数。
-c：每次显示多边形时拍摄的照片数量（可选，建议在你的情况下省略）。
-cd：拍摄照片前的倒计时时间（以秒为单位）（可选，建议用于更快的图像校准）。
-s：Charuco 标记周围的正方形大小（以厘米为单位）。
-ms：标记的大小（以厘米为单位）。
-brd：设备的板（在本例中为 OAK-D-SR-POE）

修改其json文件

{
    "board_config":
    {
        "name": "OAK-D",
        "revision": "R1M0E1",
        "cameras":{
            "CAM_A": {
                "name": "rgb",
                "hfov": 89.5水平视场角
                "type": "color"相机类型
            },
            "CAM_B": {
                "name": "left",
                "hfov": 71.86,
                "type": "mono",
                "extrinsics": {
                    "to_cam": "CAM_C",
                    "specTranslation": {
                        "x": -7.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            },
            "CAM_C": {
                "name": "right",
                "hfov": 71.86,
                "type": "mono",
                "extrinsics": {
                    "to_cam": "CAM_A",
                    "specTranslation": {
                        "x": 3.75,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            }
        },
        "stereo_config":{
            "left_cam": "CAM_B",
            "right_cam": "CAM_C"
        }
    }
}

标定结果