kalibr 标定记录

最新推荐文章于 2024-09-25 23:10:06 发布
最新推荐文章于 2024-09-25 23:10:06 发布
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分类专栏： 相机标定
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１．标定成功的中间过程

 

２． 标定失败的中间过程
2.1　由于没有一张完整的apriltag角点检测，故在做initialization of focal length的时候失败

 

2.２ 去掉一张完整的apriltag角点检测约束之后，由于内参估计错误导致的优化失败

 

使用全角点检测来估计相机的fx/fy 记录：
f_guess = 297.717
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 308.068
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.569
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 301.168
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 301.931
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 301.151
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.229
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 299.451
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.4
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.915
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.259
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 353.848
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.897
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 303.496
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 303.71
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 302.451
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.29
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 299.908
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.548
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 299.16
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.353
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 280.891
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.423
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.41
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 297.632
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 289.321
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.495
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.735
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.516
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.077
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 362.035
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 315.107
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 310.4
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 292.972
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 302.921
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 300.281
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 300.996
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 299.619
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 304.073
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 301.115
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 286.399
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 297.617
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.252
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 297.285
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.567
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 291.516
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 274.366
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.637
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.246
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.915
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.592
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 269.805
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.135
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.478
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.325
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.864
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 495.39
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 317.663
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 316.463
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 307.269
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 292.609
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.592
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.321
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 311.368
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 297.545
[pid=3208, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.644

不使用全检测的记录：
由于存在某些丢失的点，在估计fx/fy的时候会出现异常值f_guess = -nan
i = 64, target.rows() = 12, target.cols() = 12
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
0, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
1, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
2, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
3, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
4, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
5, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
8, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
9, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
10, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
11, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
12, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
13, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
14, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
15, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
16, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
17, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
20, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
21, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
22, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, GridCalibrationTargetObservation]debug: [imageGridPoint, 202][middle]
23, imagepoint fail
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 797][middle]
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 805][middle]
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = -nan
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.173
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 283.173
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 292.715
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.242
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 299.201
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 290.261
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.327
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.727
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 289.005
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 255.458
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 292.344
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 293.288
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 301.845
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 289.191
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.953
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 295.147
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 288.122
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 307.597
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 305.265
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 310.554
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 294.347
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 300.68
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 299.417
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 290.82
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 297.672
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 313.004
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 286.565
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 297.965
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.545
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 286.622
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 318.236
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 284.121
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 298.008
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 296.411
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 285.701
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 219.532
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 284.302
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 284.32
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 275.005
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 320.795
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 311.309
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 286.668
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 284.401
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 266.201
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 824][middle]
f_guess = 261.311
[pid=25469, PinholeProjection<DISTORTION_T>]debug: [initializeIntrinsics, 782][middle]

 

针对异常值的出现，通过增加std::isnan(f_guess)判断来消除异常值

针对同一组实验数据，采用全角点估计fx/fy的标定结果如下：
f0 = 296.505
intrinsics guess: [296.50540051 296.50540051 319.5  239.5]

 

针对同一组实验数据，采用非全角点估计fx/fy的标定结果如下：
f0 = 296.397
intrinsics guess:　[296.39693074 296.39693074 319.5  239.5]

对同一相机的另一组实验数据，采用非全角点估计fx/fy的标定结果如下：
f0 = 201.65
intrinsics guess: [201.64985053 201.64985053 319.5　239.5]

实验结果发现标定结果差别不大．

对于第二组实验(另外一个相机)，里面没有全角点出现的图片，即非全角点估计fx/fy的标定结果如下：
实验一
f0 = 296.397
intrinsics guess: [242.5069459 242.5069459 319.5  239.5]

实验二
f0 = 271.163
intrinsics guess: [271.16292221 271.16292221 319.5  239.5]

实验三
f0 = 283.309
intrinsics guess: [283.30903368 283.30903368 319.5  239.5]




 

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Kalibr源码学习(一): 重投影误差 给自己挖一个大坑, 从标定结果来学习Kalibr的标定源码, 这里基本以KB模型为例, 也就是标定时, kalibr的模型设定为 --model pinhole-equi , 这里以重投影误差开始,希望能坚持; 重投影误差标定结果 首先以重投影误差的txt文档的结果开始, 可以看到上面的标定结果中, 重投影误差显示为 reprojection error: [-0.000002, -0.000000] +- [0.535272, 0.572115] 这里的两项对应
利用kalibr标定出的imu标定参数
08-01
这是一个利用kalibr_allan标定出的imu参数，可用于kalibr的imu-cam联合标定，类型VI
使用kalibr标定单个相机（红外和可见光通用）
最新发布
m0_63534135的博客
09-25 1005
参考信息：链接:对于没有专属驱动的相机，可以通过usb相机驱动usb-cam读取相机的视频数据信息。如果无法直接安装，可以尝试更新软件包“sudo apt update”也可以参照上述网页中的源码安装。注意一般笔记本电脑会自带相机，可以通过插拔相机的usb来查看摄像头名称。找到相机名称后，在以下位置找到usb-cam的launch文件并修改以启动摄像头打开后，里面内容如下根据自己相机的参数对其进行修改，可以通过上位机等进行查看和设置。
kalibr 相机内参标定流程和结果分析
chengde6896383的专栏
04-30 3900
同一组实验，多次标定结果如下： 由结果可知，初始内参化结果完全相同，最终的优化结果不同。 kalibr的多相机内参标定，默认同时进行外参标定，如果对于无交叉视野的多相机内参标定如何进行呢？ kalibr在完成target提取之后，会将提取到的角点按照时间戳进行排序： 内参优化过程： 初始化 第一次优化： ...........................................
使用kalibr标定相机生成的数据分析
weixin_50508111的博客
04-10 2963
kalibr官方标定结果： 一.MONO 二.IMU——MONO 其他教程关于标定结果的说法 原文链接：https://blog.csdn.net/qq_21830903/article/details/111319119 （3）标定结果 标定结果的评定标准 因为可能存在的人为的安装问题,真实的IMU到相机的的转移矩阵可能不确定.由于没有准确的判定准则,故当前标定的结果,主要基于以下两个方面: 真实的IMU坐标系和相机坐标系的转换,即相机和IMU的物理距离 标定结果的稳定性上 标定的验证没有成功 验证方
标定工具Kalibr安装、使用及标定结果评估方法
qq_45068787的博客
04-04 2499
标定工具Kalibr安装、使用及标定结果评估方法
ZED2双目相机kalibr标定终于得到了个相对满意的结果
xiaojinger_123的博客
07-08 1224
ZED2双目相机kalibr标定终于得到了个相对满意的结果
kalibr标定工具箱
06-25
7. **动态库打包**：`dynamic.tar.gz`可能包含用于kalibr标定过程中的动态数据记录。这些数据通常由传感器捕获，用于后续的标定计算。 8. **使用kalibr**：完成安装后，可以使用kalibr提供的命令行工具进行标定，...
kalibr标定realsense鱼眼相机
NEU-LC的博客
07-16 5075
这几天项目需要使用realsense相机，正好实验室有realsense t265和d435i,在这里介绍一下realsense相机驱动安装和kalibr功能包标定相机的方法。 博主以 realsense T265作为测试目标，D435i的驱动和T265一样。 1.安装ros环境下相机驱动 添加服务器公钥 sudo apt-key adv --keyserver keys.gnupg.n...
Kalibr标定工具：Camera+IMU联合标定（MYNTEYE相机）
浅眠忘川的博客
12-10 8751
一、安装Kalibr 1.1 安装依赖项 sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-devlibboost-all-dev doxygen libopencv-dev ros-indigo-vision-opencvros-indigo-image-transport-plugins ...
Kalibr IMU+相机联合标定（含相机标定）
m0_49066914的博客
07-18 621
记录相机标定，IMU相机联合标定
Realsense2 相机使用Kalibr工具标定（一）
m0_57383947的博客
11-02 422
本文只针对Kalibr源码编译，详情请看。针对不同的python版本环境进行安装。在对应cmake文件中添加。
kalibr联合标定文件的解释
shy2333的博客
09-28 194
关于红色虚线的意义红色虚线表示为 three sigma bounds（三倍标准差），数据或测量结果的范围或分布大致受到三倍标准差（sigma）的限制。在统计学和数据分析中，标准差是用来衡量数据分布的离散程度或散布情况的一种度量。具体来说，如果数据或测量结果大致受到三倍标准差的限制，那么大约 99.7% 的数据点或观测值应该位于这个范围内。
Kalibr 之 Camera-IMU 标定 (总结)
热门推荐
CG-SpatialAI
10-23 2万+
文章目录Overview1. 标定 Camerakalibr_calibrate_cameras采集 images标定 CameraOther Camera Calib Tools输出 cam_chain.yaml2. 标定 IMU[imu_utils](https://github.com/gaowenliang/imu_utils)采集 IMU 数据标定 IMUOther Camera Cal...
用Kalibr标定相机和IMU外参
yangjinghui2019的博客
05-17 1306
相机和IMU内参标定
使用kalibr对相机和IMU标定
qq_41451702的博客
07-11 1074
分别是包含标定相机和IMU数据的rosbag，IMU内参yaml，相机内外参yaml，标定板yaml.②IMU内参yaml、相机内外参yaml、标定板yaml。标定好的参数包括各方向的随机噪声与随机游走。acc_w 加速计偏置随机工作噪声标准偏差。gyr_w 陀螺仪偏差随机工作噪音标准偏差。acc_n 加速度计测量噪音标准偏差。关于需要下载的环境和具体的包参考【gyr_n 陀螺仪测量噪音标准偏差。相机-IMU联合标定总共需要准备好。2）相机内外参yaml用之前得到的。①录制相机和imu的rosbag。
Kalibr使用：imu+camera联合标定过程详解
Mr Qin的博客
09-17 9408
文章目录前言标定过程双目相机标定imu标定imu+双目联合标定 前言 标定的目的是获取双目参数，imu参数以及二者直接之间的转换矩阵，分为三个阶段：1双目标定获取双目相机内参以及双目直接的转换矩阵，2 imu标定获取噪声密度、随机游走，3 imu+双目联合标定获取imu与双目之间的转换矩阵。 需要用到的知识包括（ros的基本操作：工作空间与功能包，rosbag记录数据集； 相机模型；） 标定过程 双目相机标定 双目标定采用Kalibr标定工具 1. 首先创建一个新的ros的工作空间，命名为kalibr_
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