具體標定過程參考
樂視體感三合一奧比中光Astra Pro相機彩色和深度(紅外)相機標定

由于在標定過程中IR圖像過暗無法進行標定，故對其數據進行放大處理，相關代碼如下：

#!/usr/bin/env python3 # -*- coding: UTF-8 -*-# ----------------------------------- # # pub topic: /camera/rgb/image_raw # sub topic: # ----------------------------------- #import rospy from sensor_msgs.msg import Image import ros_numpy import cv2.cv2 as cv import numpy as npdef send():rospy.init_node("pub_img")pub = rospy.Publisher("/camera/ir/image2", Image, queue_size=10)loop = rospy.Rate(10)while True:msg_img = rospy.wait_for_message("/camera/ir/image", Image, timeout=1)img = ros_numpy.numpify(msg_img)img = (img / 1024) * 255img = np.array(img, np.uint8)img = cv.merge((img, img, img))# print(img.shape, " ", np.min(img), " ", np.max(img))# cv.imshow("test", img)# cv.waitKey(10)# frame = ros_numpy.numpify(img)# frame = cv.resize(frame, (640, 480))# print(frame.shape)# if ret:msg = ros_numpy.msgify(Image, img, encoding='rgb8')pub.publish(msg)# loop.sleep()if __name__ == "__main__":send()

總結

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