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improve stereo calibration tutorial (backport #1065) #1067

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Feb 7, 2025
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improve stereo calibration tutorial (backport #1065) #1067

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17 changes: 15 additions & 2 deletions camera_calibration/doc/tutorial_stereo.rst
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Expand Up @@ -34,21 +34,34 @@ Finally make sure your camera is publishing images. For instance:
If you have multiple cameras or are running the driver in its own
namespace, your topic names may differ.

Most cameras will also support a `set_camera_info` service:

.. code-block:: bash

$ ros2 service list | grep stereo

/stereo/left/set_camera_info
/stereo/right/set_camera_info

Start the Calibration
---------------------
To start the calibration you will need to load the image topics
To start the calibration you will need to remap the image topics
that will be calibrated:

.. code-block:: bash

$ ros2 run camera_calibration cameracalibrator --approximate 0.1 --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/my_stereo/left/image_raw right_camera:=/my_stereo/right left_camera:=/my_stereo/left
$ ros2 run camera_calibration cameracalibrator --approximate 0.1 --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/stereo/left/image_raw right_camera:=/stereo/right left_camera:=/stereo/left

The ``--approximate`` option allows the camera calibrator to work
with images that do not have the exact same timestamp. Currently
it is set to 0.1 seconds. In this case, as long as the timestamp
difference is less than 0.1 seconds, the calibrator will run with
no problem.

The `left` and `right` namespaces are used to remap the `image_raw`
and `camera_info` topics, while the `left_camera` and `right_camera`
namespaces are used for the optional `set_camera_info` service.

This will open up the calibration window which will highlight the
checkerboard, you will not see any images in the calibration
window until a checkerboard is present:
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