> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-1-turtlebot3/13.-autonomous-driving-zi-dong-jia-shi/13.2.-tb3-autorace-tiao-zhan-sai-jiao-cheng/13.2.4.-jiao-cheng-4-xiao-zhun/13.2.4.3.-jiao-cheng-4.3-nie-ying-ji-wai-bu-can-shu-xiao-zhun.md).

# 13.2.4.3. 教程 4.3：攝影機外部參數校準

1\. **\[Remote PC 端]** 開新的 terminal 視窗，輸入

```
$ roscore
```

2\. **\[TB3 SBC 端]** 開新的 terminal 視窗，輸入

```
$ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_camera_pi.launch
```

3\. **\[TB3 SBC 端]** 開新的 terminal 視窗，輸入

```
 $ export AUTO_IN_CALIB=action
 $ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch
```

4\. **\[Remote PC 端]** 開新的 terminal 視窗，輸入

```
 $ export AUTO_EX_CALIB=calibration
 $ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_extrinsic_camera_calibration.launch
```

5\. **\[Remote PC 端]** 開新的 terminal 視窗，輸入

```
$ rqt
```

點擊在視窗上方的 plugins -> visualization -> Image view，會新產生另一個攝影機視角圖的視窗。用相同方式在 rqt 平板產生額外 2 個新視窗。然後在這兩個新視窗，分別選擇 /camera/image\_extrinsic\_calib/compressed 及 /camera/image\_projected\_compensated 的 topics。如果一切正常，屏幕上的一個將顯示紅色矩形影像，另一個將顯示基於彼此的地面投影視圖(鳥瞰視圖)。

6\. **\[Remote PC 端]** 開新的 terminal 視窗，輸入

```
$ rosrun rqt_reconfigure rqt_reconfigure
```

然後調整 /camera/image\_projection 和 /camera/image\_compensation\_projection中，可對影像進行視覺修改的參數值。參數 image\_projection 會改變 /camera/image\_extrinsic\_calib/compressed 影像的紅色矩形的形狀。內部攝影機校準將轉換被紅色矩形所包圍的影像，並顯示從車道上方所看到的影像。之後，將每個值覆寫到 turtlebot3\_autorace\_camera/calibration/extrinsic\_calibration/ 中的 yaml檔。這會使攝影機在下次啟動時，使用你所設置的參數。


---

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