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相机内参标定和双目标定
支持多种相机模型:
- pinhole model
- kannala-brandt model
- mei model
- scaramuzza model
支持多种标定板
- chessboard
- circles grid
- asymmetric circles grid
- aruco makers
- charuco makrers
依赖项
- OpenCV (with opencv_contrib)
- Ceres Solver
- boost
cd camera_modelmkdir buildcd buildcmake ..makesudo make install编译安装之后， camera_model会作为共享库被安装在系统目录, 使用时无需添加源码，只添加依赖关系即可
cmake_minimum_required(VERSION 3.0)project(camera_model_example)add_executable(example example.cc)target_link_libraries(example camera_model)part ofcamodocal
感谢原作者Lionel Heng
感谢YZF 整理camera_model
感谢Tianbo 添加Scaramuzza模型实现
Useintrinsic_calib.cc to calibrate your camera.
Usestereo_calib.cc to calibrate your camera.
SeeCamera.h for general interface:
- liftProjective: Lift points from the image plane to the projective space.
- spaceToPlane: Projects 3D points to the image plane (Pi function)
./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model mei --camera-name fisheye_mei -v./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model pinhole --camera-name fisheye_pinhole -v./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model kannala-brandt --camera-name fisheye_kannala-brandt -v./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model scaramuzza --camera-name fisheye_scaramuzza -v --view-results./intrinsic_calib -w 4 -h 11 -i ../data/asymmetric_circles_grid -p asymmetric_circles_grid -e jpg --pattern asymmetric_circles_grid --camera-model pinhole --camera-name webcam -v --view-results注意，这里一定要4x11, 设置为11x4就不行
./intrinsic_calib -w 9 -h 6 -i ../data/circles_grid -p circles_grid -e jpg --pattern circles_grid --camera-model pinhole --camera-name circles_grid_cam -v --view-results./intrinsic_calib -w 4 -h 6 -s 0.04 --marker-size 0.024 -i ../data/charuco -p charuco -e jpg --pattern charuco --dp ../data/pattern/detector_params.yml -d 10 --camera-model pinhole --camera-name charuco_cam -v --view-results./intrinsic_calib -w 4 -h 6 -s 0.04 --marker-size 0.024 -i ../data/charuco -p charuco -e jpg --pattern charuco --dp ../data/pattern/detector_params.yml -d 10 --camera-model kannala-brandt --camera-name charuco_cam -v --view-results./stereo_calib -i ../data/stereo_images/ -e jpg --prefix-l left --prefix-r right --camera-model mei -v --view-results./stereo_calib -i ../data/circles_grid --pattern circles_grid -e jpg --prefix-l circles_grid --prefix-r circles_grid --camera-model mei -v --view-results- add aruco marker