April Tags Activity

# Start the camera node (exact command depends on your hardware)
ros2 run usb_cam usb_cam_node_exe --ros-args -p framerate:=30.0

# Run the camera calibration
ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.108 --ros-args -r image:=/image_raw

# Do the calibration, it gets saved to /tmp/calibrationdata.tar.gz

# Extract the calibration data
cd /tmp
mkdir calib
mv /tmp/calibrationdata.tar.gz /tmp/calib
cd /tmp/calib
tar xf calibrationdata.tar.gz

# Kill the usb_cam node and restart, this time loading the calibration
ros2 run usb_cam usb_cam_node_exe --ros-args -p framerate:=30.0 -p camera_info_url:=file:///tmp/calib/ost.yaml

# Start the image proc pipeline
ros2 launch image_proc image_proc.launch.py

# Note that this is made up of components
ros2 component list

# compare the rectified and non-rectified image
ros2 run rqt_image_view rqt_image_view