Monocular Vision based Navigation of a Robot using ROS

Dependencies

The following dependencies need to be installed prior to calibrating the camera:

$ rosdep install camera_calibration
$ sudo apt install ros-noetic-fiducials
$ pip install opencv-contrib-python
$ sudo apt install cairosvg python3-cairosvg

Camera calibration

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.025 image:=/raspicam_node/image camera:=/raspicam_node --no-service-check

The calibrated file can then be stored in the aut_sys/src/raspicam_node/camera_info folder